1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
use crate::{Error, Result};
use lazy_static::lazy_static;
use regex::Regex;
use serde_derive::{Deserialize, Serialize};
use std::convert::TryFrom;
use std::fmt::{Display, Formatter};
use std::hash::Hash;
/// Path to a ROS message with naming conventions tested.
#[derive(Clone, Debug, Hash, PartialEq, Eq, Serialize, Deserialize)]
#[serde(into = "String")]
#[serde(try_from = "&str")]
pub struct MessagePath {
package: String,
name: String,
}
pub fn is_valid_package_name(package: &str) -> bool {
lazy_static! {
static ref RE_PACKAGE_CORRECT_CHAR_SET_AND_LENGTH: Regex =
Regex::new("^[a-z][a-z0-9_]+$").unwrap();
static ref RE_PACKAGE_CONSECUTIVE_UNDERSCORE: Regex = Regex::new("__").unwrap();
}
RE_PACKAGE_CORRECT_CHAR_SET_AND_LENGTH.is_match(package)
&& !RE_PACKAGE_CONSECUTIVE_UNDERSCORE.is_match(package)
}
impl MessagePath {
/// Create full message path, with naming rules checked
///
/// Naming rules are based on [REP 144](https://www.ros.org/reps/rep-0144.html).
///
/// # Errors
///
/// An error will be returned if naming conventions are not met.
///
/// # Examples
///
/// ```
/// # use ros2_message::MessagePath;
/// #
/// # fn main() -> Result<(), Box<dyn std::error::Error>> {
/// let message_path = MessagePath::new("foo", "Bar")?;
///
/// assert_eq!(message_path.package(), "foo");
/// assert_eq!(message_path.name(), "Bar");
///
/// assert!(MessagePath::new("0foo", "Bar").is_err());
/// # Ok(())
/// # }
/// ```
pub fn new(package: impl Into<String>, name: impl Into<String>) -> Result<Self> {
let package = package.into();
let name = name.into();
if !is_valid_package_name(&package) {
return Err(Error::InvalidMessagePath {
name: format!("{}/{}",package,name),
reason: "package name needs to follow REP 144 rules (https://www.ros.org/reps/rep-0144.html)".into(),
});
}
Ok(Self { package, name })
}
/// Create a new message path inside the same package.
///
/// Prevents the need for constant error checking of package names.
///
/// # Examples
///
/// ```
/// # use ros2_message::MessagePath;
/// #
/// # fn main() -> Result<(), Box<dyn std::error::Error>> {
/// let message_path = MessagePath::new("foo", "Bar")?.peer("Baz");
///
/// assert_eq!(message_path.package(), "foo");
/// assert_eq!(message_path.name(), "Baz");
/// # Ok(())
/// # }
/// ```
pub fn peer(&self, name: impl Into<String>) -> Self {
Self {
package: self.package.clone(),
name: name.into(),
}
}
fn from_combined(input: &str) -> Result<Self> {
let parts = input.splitn(3, '/').collect::<Vec<&str>>();
match parts[..] {
[package, msg, name] => match msg {
"srv" => Err(Error::InvalidMessagePath {
name: input.to_owned(),
reason:
"service names are not valid message paths, please use ServicePath(not yet implemented) instead"
.into(),
}),
"msg" => Self::new(package, name),
_ => Err(Error::InvalidMessagePath {
name: input.to_owned(),
reason: "message path should follow the pattern packageName/msg/messageName"
.into(),
}),
},
[package, name] => Self::new(package, name),
_ => Err(Error::InvalidMessagePath {
name: input.into(),
reason: "string needs to be in `package/name` format".into(),
}),
}
}
/// Package that the message is located in.
pub fn package(&self) -> &str {
&self.package
}
/// Name of the message inside the package.
pub fn name(&self) -> &str {
&self.name
}
}
impl Display for MessagePath {
fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
write!(f, "{}/{}", self.package(), self.name())
}
}
impl<'a> TryFrom<&'a str> for MessagePath {
type Error = Error;
fn try_from(value: &'a str) -> Result<Self> {
Self::from_combined(value)
}
}
impl From<MessagePath> for String {
fn from(src: MessagePath) -> Self {
format!("{}", src)
}
}