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use std::{fs, path::Path};
use anyhow::{Context, Result};
use super::{constant::constant_def, member::member_def};
use crate::types::Message;
fn split_once(s: &'_ str, pat: char) -> (&'_ str, Option<&'_ str>) {
let mut items = s.splitn(2, pat);
(items.next().unwrap(), items.next())
}
pub fn parse_message_file<P: AsRef<Path>>(pkg_name: &str, interface_file: P) -> Result<Message> {
parse_message_string(
pkg_name,
interface_file
.as_ref()
.file_stem()
.unwrap()
.to_str()
.unwrap(),
fs::read_to_string(interface_file.as_ref())?.as_str(),
)
.with_context(|| format!("Parse file error: {}", interface_file.as_ref().display()))
}
pub fn parse_message_string(
pkg_name: &str,
msg_name: &str,
message_string: &str,
) -> Result<Message> {
let mut members = vec![];
let mut constants = vec![];
for line in message_string.lines() {
let (line, _) = split_once(line, '#');
let line = line.trim();
if line.is_empty() {
continue;
}
let (_, rest) = split_once(line, ' ');
match rest.unwrap().find('=') {
Some(_) => constants.push(constant_def(line)?),
None => members.push(member_def(line)?),
}
}
Ok(Message {
package: pkg_name.into(),
name: msg_name.into(),
members,
constants,
})
}
#[cfg(test)]
mod test {
use std::path::PathBuf;
use super::*;
use crate::types::{primitives::*, sequences::*, *};
#[test]
fn test_split_once() {
assert_eq!(split_once("abc", 'b'), ("a", Some("c")));
assert_eq!(split_once("abc", 'c'), ("ab", Some("")));
assert_eq!(split_once("abc", 'd'), ("abc", None));
}
fn parse_msg_def(msg_name: &str) -> Result<Message> {
let path = PathBuf::from(env!("CARGO_MANIFEST_DIR"))
.join(format!("test_msgs/msg/{}.msg", msg_name));
parse_message_file("test_msgs", path)
}
#[test]
fn parse_arrays() -> Result<()> {
let message = parse_msg_def("Arrays")?;
assert_eq!(message.package, "test_msgs".to_string());
assert_eq!(message.name, "Arrays".to_string());
assert_eq!(message.members[0].name, "bool_values".to_string());
assert_eq!(
message.members[0].r#type,
MemberType::Array(Array {
value_type: BasicType::Bool.into(),
size: 3,
})
);
Ok(())
}
#[test]
fn parse_basic_types() -> Result<()> {
let result = parse_msg_def("BasicTypes")?;
assert_eq!(result.members[0].name, "bool_value".to_string());
assert_eq!(result.members[0].r#type, BasicType::Bool.into());
assert_eq!(result.members[0].default, None);
Ok(())
}
#[test]
fn parse_bounded_sequences() -> Result<()> {
let _result = parse_msg_def("BoundedSequences")?;
Ok(())
}
#[test]
fn parse_constants() -> Result<()> {
let _result = parse_msg_def("Constants")?;
Ok(())
}
#[test]
fn parse_defaults() -> Result<()> {
let _result = parse_msg_def("Defaults")?;
Ok(())
}
#[test]
fn parse_empty() -> Result<()> {
let _result = parse_msg_def("Empty")?;
Ok(())
}
#[test]
fn parse_multi_nested() -> Result<()> {
let _result = parse_msg_def("MultiNested")?;
Ok(())
}
#[test]
fn parse_nested() -> Result<()> {
let _result = parse_msg_def("Nested")?;
Ok(())
}
#[test]
fn parse_strings() -> Result<()> {
let _result = parse_msg_def("Strings")?;
Ok(())
}
#[test]
fn parse_unbounded_sequences() -> Result<()> {
let _result = parse_msg_def("UnboundedSequences")?;
Ok(())
}
#[test]
fn parse_wstrings() -> Result<()> {
let _result = parse_msg_def("WStrings")?;
Ok(())
}
}
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