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use std::{collections::HashMap, path::Path};
use anyhow::{Context, Result};
use glob::glob;
use tracing::warn;
use super::{action::parse_action_file, message::parse_message_file, service::parse_service_file};
use crate::types::Package;
fn get_ros_msgs_each_package<P: AsRef<Path>>(root_dir: P) -> Result<Vec<Package>> {
let mut map: HashMap<String, Package> = HashMap::new();
let ros_formats = vec!["msg", "srv", "action"];
// Return empty vector if root_dir is empty
if root_dir.as_ref() == Path::new("") {
let empty_vec: Vec<Package> = vec![];
warn!("AMENT_PREFIX_PATH pointed to ''");
return Ok(empty_vec);
}
for ros_format in ros_formats {
let pattern = root_dir.as_ref().to_string_lossy().to_string()
+ "/**/"
+ ros_format
+ "/*."
+ ros_format;
let mut visited_files = vec![];
for entry in glob(&pattern).context("Failed to read glob pattern")? {
let path = entry.context("Could not glob given path")?;
let file_name = path
.clone()
.file_name()
.unwrap()
.to_str()
.unwrap()
.to_string();
let package = path
.parent()
.context("Should have a msg folder")?
.parent()
.context("should have a package folder")?
.file_name()
.context("folder name should exist")?
.to_string_lossy()
.to_string();
// Hack
if file_name == "libstatistics_collector" {
continue;
} else if visited_files.contains(&(package.clone(), file_name.clone())) {
warn!(
"found two versions of package: {:?}, message: {:?}. will skip the one in: {:#?}",
package, file_name, path
);
continue;
} else {
visited_files.push((package.clone(), file_name.clone()));
}
let p = map
.entry(package.clone())
.or_insert_with(|| Package::new(package.clone()));
match ros_format {
"msg" => {
p.messages.push(parse_message_file(&package, path.clone())?);
}
"srv" => {
p.services.push(parse_service_file(&package, path.clone())?);
}
"action" => {
p.actions.push(parse_action_file(&package, path.clone())?);
}
_ => todo!(),
}
}
}
debug_assert!(
!map.is_empty(),
"it seens that no package was generated from your AMENT_PREFIX_PATH directory"
);
let packages = map.into_values().collect();
Ok(packages)
}
pub fn get_packages<P>(paths: &[P]) -> Result<Vec<Package>>
where
P: AsRef<Path>,
{
let mut packages = paths
.iter()
.map(get_ros_msgs_each_package)
.collect::<Result<Vec<_>>>()?
.into_iter()
.flatten()
.filter(|p| !p.is_empty())
.collect::<Vec<_>>();
packages.sort_by_key(|p| p.name.clone());
packages.dedup_by_key(|p| p.name.clone());
Ok(packages)
}
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