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use crate::{parse_msg::match_lines, DataType, Error, FieldInfo, MessagePath, Result, Value};
use serde_derive::{Deserialize, Serialize};
use std::collections::HashMap;
use std::convert::TryFrom;
use std::fmt;
use std::fmt::Formatter;
/// A ROS message parsed from a `msg` file.
#[derive(Clone, Debug, PartialEq, Eq, Hash, Serialize, Deserialize)]
#[serde(into = "MsgSerde")]
#[serde(try_from = "MsgSerde")]
pub struct Msg {
path: MessagePath,
fields: Vec<FieldInfo>,
source: String,
}
impl fmt::Display for Msg {
fn fmt(&self, f: &mut Formatter<'_>) -> fmt::Result {
self.source.fmt(f)
}
}
impl Msg {
/// Create a message from a passed in path and source.
///
/// # Errors
///
/// Returns an error if there is an error parsing the message source.
///
/// # Examples
///
/// ```
/// # use ros_message::Msg;
/// # use std::convert::TryInto;
/// #
/// # fn main() -> Result<(), Box<dyn std::error::Error>> {
/// let message = Msg::new(
/// "foo/Bar".try_into()?,
/// r#"# a comment that is ignored
/// Header header
/// uint32 a
/// byte[16] b
/// geometry_msgs/Point[] point
/// uint32 FOO=5
/// string SOME_TEXT=this is # some text, don't be fooled by the hash
/// "#,
/// )?;
///
/// assert_eq!(message.path(), &"foo/Bar".try_into()?);
/// assert_eq!(message.fields().len(), 6);
/// # Ok(())
/// # }
/// ```
pub fn new(path: MessagePath, source: &str) -> Result<Msg> {
let source = source.trim().to_owned();
let fields = match_lines(&source)?;
Ok(Msg {
path,
fields,
source,
})
}
/// Returns a map of all constant fields inside the message, with their values parsed.
///
/// # Examples
///
/// ```
/// # use ros_message::{Msg, Value};
/// # use std::convert::TryInto;
/// #
/// # fn main() -> Result<(), Box<dyn std::error::Error>> {
/// let message = Msg::new(
/// "foo/Bar".try_into()?,
/// r#"# a comment that is ignored
/// Header header
/// uint32 a
/// byte[16] b
/// geometry_msgs/Point[] point
/// uint32 FOO=5
/// string SOME_TEXT=this is # some text, don't be fooled by the hash
/// "#,
/// )?;
///
/// let constants = message.constants();
///
/// assert_eq!(constants.len(), 2);
/// assert_eq!(constants.get("FOO"), Some(&Value::U32(5)));
/// assert_eq!(
/// constants.get("SOME_TEXT"),
/// Some(&Value::String("this is # some text, don't be fooled by the hash".into())),
/// );
/// # Ok(())
/// # }
/// ```
pub fn constants(&self) -> HashMap<String, Value> {
self.fields
.iter()
.filter_map(|field| {
let value = field.const_value()?.clone();
Some((field.name().into(), value))
})
.collect()
}
/// Returns the path of the message.
pub fn path(&self) -> &MessagePath {
&self.path
}
/// Returns a slice of all fields.
pub fn fields(&self) -> &[FieldInfo] {
&self.fields
}
/// Returns the original source.
pub fn source(&self) -> &str {
&self.source
}
/// Returns a all message paths that this message directly depends upon.
///
/// They are listed in the order that they appear in in the message, and duplicates
/// are allowed.
///
/// Indirect dependencies are not included, and if you want an exhaustive list of all
/// dependencies, you have to manually traverse every message being depended upon.
/// # Examples
///
/// ```
/// # use ros_message::Msg;
/// # use std::convert::TryInto;
/// #
/// # fn main() -> Result<(), Box<dyn std::error::Error>> {
/// let message = Msg::new(
/// "foo/Bar".try_into()?,
/// r#"
/// Header header
/// geometry_msgs/Point[] point1
/// Point[] point2
/// foo/Point[] point2_but_with_global_path
/// foo/Baz[] baz
/// "#,
/// )?;
///
/// let dependencies = message.dependencies();
///
/// assert_eq!(dependencies, vec![
/// "std_msgs/Header".try_into()?,
/// "geometry_msgs/Point".try_into()?,
/// "foo/Point".try_into()?,
/// "foo/Point".try_into()?,
/// "foo/Baz".try_into()?,
/// ]);
/// # Ok(())
/// # }
/// ```
pub fn dependencies(&self) -> Vec<MessagePath> {
self.fields
.iter()
.filter_map(|field| match field.datatype() {
DataType::LocalMessage(ref name) => Some(self.path.peer(name)),
DataType::GlobalMessage(ref message) => Some(message.clone()),
_ => None,
})
.collect()
}
/// Returns the MD5 sum of this message.
///
/// Any direct dependency must have its MD5 sum provided in the passed in hashes.
///
/// All direct dependencies are returned by the `dependencies()` method.
///
/// # Errors
///
/// An error is returned if some dependency is missing in the hashes.
#[cfg(test)]
pub fn calculate_md5(&self, hashes: &HashMap<MessagePath, String>) -> Result<String> {
use md5::{Digest, Md5};
let mut hasher = Md5::new();
hasher.update(&self.get_md5_representation(hashes)?);
Ok(hex::encode(hasher.finalize()))
}
/// Returns the full MD5 representation of the message.
///
/// This is the string that is sent to the MD5 hasher to digest.
///
/// # Errors
///
/// An error is returned if some dependency is missing in the hashes.
///
/// # Examples
///
/// ```
/// # use ros_message::Msg;
/// # use std::convert::TryInto;
/// # use std::collections::HashMap;
/// #
/// # fn main() -> Result<(), Box<dyn std::error::Error>> {
/// let message = Msg::new(
/// "foo/Bar".try_into()?,
/// r#"# a comment that is ignored
/// Header header
/// uint32 a
/// byte[16] b
/// geometry_msgs/Point[] point
/// Baz baz
/// uint32 FOO=5
/// string SOME_TEXT=this is # some text, don't be fooled by the hash
/// "#,
/// )?;
///
/// let mut hashes = HashMap::new();
/// hashes.insert("std_msgs/Header".try_into()?, "hash1".into());
/// hashes.insert("geometry_msgs/Point".try_into()?, "hash2".into());
/// hashes.insert("foo/Baz".try_into()?, "hash3".into());
///
/// let representation = message.get_md5_representation(&hashes)?;
///
/// assert_eq!(
/// representation,
/// r#"uint32 FOO=5
/// string SOME_TEXT=this is # some text, don't be fooled by the hash
/// hash1 header
/// uint32 a
/// byte[16] b
/// hash2 point
/// hash3 baz"#);
/// # Ok(())
/// # }
/// ```
pub fn get_md5_representation(&self, hashes: &HashMap<MessagePath, String>) -> Result<String> {
let constants = self
.fields
.iter()
.filter(|v| v.is_constant())
.map(|v| v.md5_string(self.path.package(), hashes))
.collect::<Result<Vec<String>>>()?;
let fields = self
.fields
.iter()
.filter(|v| !v.is_constant())
.map(|v| v.md5_string(self.path.package(), hashes))
.collect::<Result<Vec<String>>>()?;
let representation = constants
.into_iter()
.chain(fields)
.collect::<Vec<_>>()
.join("\n");
Ok(representation)
}
/// Returns true if the message has a header field.
///
/// A header field is a unit value named `header` of type `std_msgs/Header`.
/// The package can be elided in this special case, no matter the package that
/// the containing message is located in.
pub fn has_header(&self) -> bool {
self.fields.iter().any(FieldInfo::is_header)
}
}
#[derive(Serialize, Deserialize)]
struct MsgSerde {
path: MessagePath,
source: String,
}
impl TryFrom<MsgSerde> for Msg {
type Error = Error;
fn try_from(src: MsgSerde) -> Result<Self> {
Self::new(src.path, &src.source)
}
}
impl From<Msg> for MsgSerde {
fn from(src: Msg) -> Self {
Self {
path: src.path,
source: src.source,
}
}
}