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use crate::{Error, MessagePath, Msg, Result};
use lazy_static::lazy_static;
use regex::RegexBuilder;
use serde_derive::{Deserialize, Serialize};
use std::convert::TryFrom;
use std::fmt;
use std::fmt::Formatter;
/// A ROS service parsed from a `srv` file.
#[derive(Clone, Debug, PartialEq, Eq, Hash, Serialize, Deserialize)]
#[serde(into = "SrvSerde")]
#[serde(try_from = "SrvSerde")]
pub struct Srv {
path: MessagePath,
source: String,
req: Msg,
res: Msg,
}
impl fmt::Display for Srv {
fn fmt(&self, f: &mut Formatter<'_>) -> fmt::Result {
self.source.fmt(f)
}
}
impl Srv {
/// Create a service from a passed in path and source.
///
/// # Errors
///
/// Returns an error if there is an error parsing the service source.
///
/// # Examples
///
/// ```
/// # use ros_message::Srv;
/// # use std::convert::TryInto;
/// #
/// # fn main() -> Result<(), Box<dyn std::error::Error>> {
/// let service = Srv::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
/// ---
/// uint32 a
/// geometry_msgs/Point[] point
/// uint32 FOO=6
/// "#,
/// )?;
///
/// assert_eq!(service.path(), &"foo/Bar".try_into()?);
/// assert_eq!(service.request().fields().len(), 6);
/// assert_eq!(service.response().fields().len(), 3);
/// # Ok(())
/// # }
/// ```
pub fn new(path: MessagePath, source: impl Into<String>) -> Result<Srv> {
let source = source.into();
let (req, res) = Self::build_req_res(&path, &source)?;
Ok(Srv {
path,
source,
req,
res,
})
}
/// Returns the path of the service.
pub fn path(&self) -> &MessagePath {
&self.path
}
/// Returns the original source.
pub fn source(&self) -> &str {
&self.source
}
/// Returns the request message.
pub fn request(&self) -> &Msg {
&self.req
}
/// Returns the response message.
pub fn response(&self) -> &Msg {
&self.res
}
fn build_req_res(path: &MessagePath, source: &str) -> Result<(Msg, Msg)> {
lazy_static! {
static ref RE_SPLIT: regex::Regex = RegexBuilder::new("^---$")
.multi_line(true)
.build()
.expect("Invalid regex `^---$`");
}
let (req, res) = match RE_SPLIT.split(source).collect::<Vec<_>>().as_slice() {
&[req] => (req, ""),
&[req, res] => (req, res),
&[] => {
return Err(Error::BadMessageContent(format!(
"Service {} does not have any content",
path
)))
}
v => {
return Err(Error::BadMessageContent(format!(
"Service {} is split into {} parts",
path,
v.len()
)))
}
};
Ok((
Msg::new(path.peer(format!("{}Req", path.name())), req)?,
Msg::new(path.peer(format!("{}Res", path.name())), res)?,
))
}
}
#[derive(Serialize, Deserialize)]
struct SrvSerde {
path: MessagePath,
source: String,
}
impl TryFrom<SrvSerde> for Srv {
type Error = Error;
fn try_from(src: SrvSerde) -> Result<Self> {
Self::new(src.path, &src.source)
}
}
impl From<Srv> for SrvSerde {
fn from(src: Srv) -> Self {
Self {
path: src.path,
source: src.source,
}
}
}