ros_introspection.cpp

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#include <boost/algorithm/string.hpp>
#include <boost/utility/string_ref.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/regex.hpp>
#include <boost/algorithm/string/regex.hpp>
#include <functional>
#include "ros_type_introspection/ros_introspection.hpp"
#include "ros_type_introspection/helper_functions.hpp"

namespace RosIntrospection {

void Parser::createTrees(ROSMessageInfo& info, const std::string &type_name) const
{
  std::function<void(const ROSMessage*, StringTreeNode*, MessageTreeNode* )> recursiveTreeCreator;

  recursiveTreeCreator = [&](const ROSMessage* msg_definition, StringTreeNode* string_node, MessageTreeNode* msg_node)
  {
    // note: should use reserve here, NOT resize
    const size_t NUM_FIELDS = msg_definition->fields().size();

    string_node->children().reserve( NUM_FIELDS );
    msg_node->children().reserve( NUM_FIELDS );

    for (const ROSField& field : msg_definition->fields() )
    {
      if(field.isConstant() == false) {

        // Let's add first a child to string_node
        string_node->addChild( field.name() );
        StringTreeNode*  new_string_node = &(string_node->children().back());
        if( field.isArray())
        {
          new_string_node->children().reserve(1);
          new_string_node = new_string_node->addChild("#");
        }

        const ROSMessage* next_msg = nullptr;
        // builtin types will not trigger a recursion
        if( field.type().isBuiltin() == false)
        {
          next_msg = getMessageByType( field.type(), info );
          if( next_msg == nullptr)
          {
            throw std::runtime_error("This type was not registered " );
          }
          msg_node->addChild( next_msg );
          MessageTreeNode* new_msg_node = &(msg_node->children().back());
          recursiveTreeCreator(next_msg, new_string_node, new_msg_node);
        }
      } //end of field.isConstant()
    } // end of for fields
  };//end of lambda

  info.string_tree.root()->setValue( type_name );
  info.message_tree.root()->setValue( &info.type_list.front() );
  //TODO info.type_tree.root()->value() =
  // start recursion
  recursiveTreeCreator( &info.type_list.front(),
                        info.string_tree.root(),
                        info.message_tree.root());
}

inline bool operator ==( const std::string& a, const absl::string_view& b)
{
  return (  a.size() == b.size() && std::strncmp( a.data(), b.data(), a.size()) == 0);
}

inline bool FindPattern(const std::vector<absl::string_view> &pattern,
                        size_t index, const StringTreeNode *tail,
                        const StringTreeNode **head)
{
  if(  tail->value() == pattern[index] )
  {
    index++;
  }
  else{ // mismatch
    if( index > 0 ){
      // reset counter;
      FindPattern( pattern, 0, tail, head);
      return false;
    }
    index = 0;
  }

  if( index == pattern.size()){
    *head = ( tail );
    return true;
  }

  bool found = false;

  for (auto& child: tail->children() ) {

    found = FindPattern( pattern, index, &child, head);
    if( found) break;
  }
  return found;
}


void Parser::registerRenamingRules(const ROSType &type, const std::vector<SubstitutionRule> &given_rules)
{
  std::unordered_set<SubstitutionRule>& rule_set = _registered_rules[type];
  for(const auto& rule: given_rules)
  {
    if( rule_set.find( rule ) == rule_set.end() )
    {
      rule_set.insert( rule );
      _rule_cache_dirty = true;
    }
  }
}

void Parser::updateRuleCache()
{
  if( _rule_cache_dirty == false)
  {
    return;
  }
  else{
    _rule_cache_dirty = false;
  }
  for(const auto& rule_it: _registered_rules )
  {
    const ROSType& type = rule_it.first;
    const std::unordered_set<SubstitutionRule>& rule_set = rule_it.second;

    for(const auto& msg_it: _registered_messages)
    {
      const std::string& msg_identifier = msg_it.first;
      const ROSMessageInfo& msg_info    = msg_it.second;

      if( getMessageByType(type, msg_info) )
      {
        std::vector<RulesCache>&  cache_vector = _rule_caches[msg_identifier];
        for(const auto& rule: rule_set )
        {
          RulesCache cache(rule);
          FindPattern( cache.rule->pattern(), 0, msg_info.string_tree.croot(), &cache.pattern_head );
          FindPattern( cache.rule->alias(),   0, msg_info.string_tree.croot(), &cache.alias_head );
          if( cache.pattern_head && cache.alias_head
              && std::find( cache_vector.begin(), cache_vector.end(), cache) == cache_vector.end()
              )
          {
            cache_vector.push_back( std::move(cache) );
          }
        }
      }
    }
  }
}



void Parser::registerMessageDefinition(const std::string &msg_definition,
                                       const ROSType &main_type,
                                       const std::string &definition)
{
  if( _registered_messages.count(msg_definition) > 0 )
  {
    return; //already registered
  }
  _rule_cache_dirty = true;

  const boost::regex msg_separation_regex("^=+\\n+");

  std::vector<std::string> split;
  std::vector<const ROSType*> all_types;

  boost::split_regex(split, definition, msg_separation_regex);

  ROSMessageInfo info;
  info.type_list.reserve( split.size() );

  for (size_t i = 0; i < split.size(); ++i)
  {
    ROSMessage msg( split[i] );
    if( i == 0)
    {
      msg.mutateType( main_type );
    }

    info.type_list.push_back( std::move(msg) );
    all_types.push_back( &(info.type_list.back().type()) );
  }

  for( ROSMessage& msg: info.type_list )
  {
    msg.updateMissingPkgNames( all_types );
  }
  //------------------------------

  createTrees(info, msg_definition);

  //  std::cout << info.string_tree << std::endl;
  //  std::cout << info.message_tree << std::endl;
  _registered_messages.insert( std::make_pair(msg_definition, std::move(info) ) );
}

const ROSMessageInfo *Parser::getMessageInfo(const std::string &msg_identifier) const
{
  auto it = _registered_messages.find(msg_identifier);
  if( it != _registered_messages.end() )
  {
    return &(it->second);
  }
  return nullptr;
}

const ROSMessage* Parser::getMessageByType(const ROSType &type, const ROSMessageInfo& info) const
{
  for(const ROSMessage& msg: info.type_list) // find in the list
  {
    if( msg.type() == type )
    {
      return &msg;
    }
  }
  return nullptr;
}

void Parser::applyVisitorToBuffer(const std::string &msg_identifier,
                                  const ROSType& monitored_type,
                                  absl::Span<uint8_t> &buffer,
                                  Parser::VisitingCallback callback) const
{
  const ROSMessageInfo* msg_info = getMessageInfo(msg_identifier);

  if( msg_info == nullptr)
  {
    throw std::runtime_error("extractField: msg_identifier not registered. Use registerMessageDefinition" );
  }
  if( getMessageByType( monitored_type, *msg_info) == nullptr)
  {
    // you will not find it. Skip it;
    return;
  }

  std::function<void(const MessageTreeNode*)> recursiveImpl;
  size_t buffer_offset = 0;

  recursiveImpl = [&](const MessageTreeNode* msg_node)
  {
    const ROSMessage* msg_definition = msg_node->value();
    const ROSType& msg_type = msg_definition->type();

    const bool matching = ( msg_type == monitored_type );

    uint8_t* prev_buffer_ptr = buffer.data() + buffer_offset;
    size_t prev_offset = buffer_offset;

    size_t index_m = 0;

    for (const ROSField& field : msg_definition->fields() )
    {
      if(field.isConstant() ) continue;

      const ROSType&  field_type = field.type();

      int32_t array_size = field.arraySize();
      if( array_size == -1)
      {
        ReadFromBuffer( buffer, buffer_offset, array_size );
      }

      //------------------------------------

      if( field_type.isBuiltin() )
      {
        for (int i=0; i<array_size; i++ )
        {
          //Skip
          ReadFromBufferToVariant( field_type.typeID(), buffer, buffer_offset );
        }
      }
      else{
        // field_type.typeID() == OTHER
        for (int i=0; i<array_size; i++ )
        {
          recursiveImpl( msg_node->child(index_m) );
        }
        index_m++;
      }
    } // end for fields
    if( matching )
    {
      absl::Span<uint8_t> view( prev_buffer_ptr, buffer_offset - prev_offset);
      callback( monitored_type, view );
    }
  }; //end lambda

  //start recursion
  recursiveImpl( msg_info->message_tree.croot() );
}

bool Parser::deserializeIntoFlatContainer(const std::string& msg_identifier,
                                          absl::Span<uint8_t> buffer,
                                          FlatMessage* flat_container,
                                          const uint32_t max_array_size ) const
{

  bool entire_message_parse = true;
  const ROSMessageInfo* msg_info = getMessageInfo(msg_identifier);

  size_t value_index = 0;
  size_t name_index = 0;
  size_t blob_index = 0;

  if( msg_info == nullptr)
  {
    throw std::runtime_error("deserializeIntoFlatContainer: msg_identifier not registerd. Use registerMessageDefinition" );
  }
  size_t buffer_offset = 0;

  std::function<void(const MessageTreeNode*,StringTreeLeaf,bool)> deserializeImpl;

  deserializeImpl = [&](
      const MessageTreeNode* msg_node,
      const StringTreeLeaf& tree_leaf,
      bool DO_STORE)
  {
    const ROSMessage* msg_definition = msg_node->value();
    size_t index_s = 0;
    size_t index_m = 0;

    for (const ROSField& field : msg_definition->fields() )
    {
      if(field.isConstant() ) continue;

      const ROSType&  field_type = field.type();

      auto new_tree_leaf = tree_leaf;
      new_tree_leaf.node_ptr = tree_leaf.node_ptr->child(index_s);

      int32_t array_size = field.arraySize();
      if( array_size == -1)
      {
        ReadFromBuffer( buffer, buffer_offset, array_size );
      }
      if( field.isArray())
      {
        new_tree_leaf.index_array.push_back(0);
        new_tree_leaf.node_ptr = new_tree_leaf.node_ptr->child(0);
      }

      bool IS_BLOB = false;

      // Stop storing it if is NOT a blob and a very large array.
      if( array_size > static_cast<int32_t>(max_array_size))
      {
        if( builtinSize(field_type.typeID()) == 1){
          IS_BLOB = true;
        }
        else{
          if( _discard_large_array ){
             DO_STORE = false;
          }
          entire_message_parse = false;
        }
      }

      if( IS_BLOB ) // special case. This is a "blob", typically an image, a map, etc.
      {
        if( flat_container->blob.size() <= blob_index)
        {
          const size_t increased_size = std::max( size_t(32), flat_container->blob.size() *  3/2);
          flat_container->blob.resize( increased_size );
        }
        if( buffer_offset + array_size > buffer.size() )
        {
          throw std::runtime_error("Buffer overrun in deserializeIntoFlatContainer (blob)");
        }
        if( DO_STORE )
        {
          flat_container->blob[blob_index].first  = new_tree_leaf ;
          std::vector<uint8_t>& blob = flat_container->blob[blob_index].second;
          blob_index++;
          blob.resize( array_size );
          std::memcpy( blob.data(), &buffer[buffer_offset], array_size);
        }
        buffer_offset += array_size;
      }
      else // NOT a BLOB
      {
        bool DO_STORE_ARRAY = DO_STORE;
        for (int i=0; i<array_size; i++ )
        {
          if( DO_STORE_ARRAY && i >= max_array_size )
          {
              DO_STORE_ARRAY = false;
          }

          if( field.isArray() && DO_STORE_ARRAY )
          {
            new_tree_leaf.index_array.back() = i;
          }

          if( field_type.typeID() == STRING )
          {
            if( flat_container->name.size() <= name_index)
            {
              const size_t increased_size = std::max( size_t(32), flat_container->name.size() *  3/2);
              flat_container->name.resize( increased_size );
            }
            std::string& name = flat_container->name[name_index].second;//read directly inside an existing std::string
            ReadFromBuffer<std::string>( buffer, buffer_offset, name );

            if( DO_STORE_ARRAY )
            {
              flat_container->name[name_index].first = new_tree_leaf ;
              name_index++;
            }
          }
          else if( field_type.isBuiltin() )
          {
            if( flat_container->value.size() <= value_index)
            {
              const size_t increased_size = std::max( size_t(32), flat_container->value.size() *  3/2);
              flat_container->value.resize( increased_size );
            }

            Variant var = ReadFromBufferToVariant( field_type.typeID(),
                                                   buffer,
                                                   buffer_offset );
            if( DO_STORE_ARRAY )
            {
              flat_container->value[value_index] = std::make_pair( new_tree_leaf, std::move(var) );
              value_index++;
            }
          }
          else{ // field_type.typeID() == OTHER

            deserializeImpl(msg_node->child(index_m),
                            new_tree_leaf,
                            DO_STORE_ARRAY);
          }
        } // end for array_size
      }

      if( field_type.typeID() == OTHER )
      {
        index_m++;
      }
      index_s++;
    } // end for fields
  }; //end of lambda


  flat_container->tree = &msg_info->string_tree;

  StringTreeLeaf rootnode;
  rootnode.node_ptr = msg_info->string_tree.croot();

  deserializeImpl( msg_info->message_tree.croot(),
                   rootnode,
                   true);

  flat_container->name.resize( name_index );
  flat_container->value.resize( value_index );
  flat_container->blob.resize( blob_index );

  if( buffer_offset != buffer.size() )
  {
    throw std::runtime_error("buildRosFlatType: There was an error parsing the buffer" );
  }
  return entire_message_parse;
}

inline bool isNumberPlaceholder( const absl::string_view& s)
{
  return s.size() == 1 && s[0] == '#';
}

inline bool isSubstitutionPlaceholder( const absl::string_view& s)
{
  return s.size() == 1 && s[0] == '@';
}

// given a leaf of the tree, that can have multiple index_array,
// find the only index which corresponds to the # in the pattern
inline int  PatternMatchAndIndexPosition(const StringTreeLeaf& leaf,
                                         const StringTreeNode* pattern_head )
{
  const StringTreeNode* node_ptr = leaf.node_ptr;

  int pos = leaf.index_array.size() -1;

  while( node_ptr )
  {
    if( node_ptr != pattern_head )
    {
      if( isNumberPlaceholder( node_ptr->value() ))
      {
        pos--;
      }
    }
    else{
      return pos;
    }
    node_ptr = node_ptr->parent();
  } // end while
  return -1;
}

template <typename VectorType>
inline void JoinStrings( const VectorType& vect, const char separator, std::string& destination)
{
  size_t count = 0;
  for(const auto &v: vect ) count += v.size();

  // the following approach seems to be faster
  // https://github.com/facontidavide/InterestingBenchmarks/blob/master/StringAppend_vs_Memcpy.md

  destination.resize( count + vect.size() -1 );

  char* buffer = &destination[0];
  size_t buff_pos = 0;

  for (size_t c = 0; c < vect.size()-1; c++)
  {
    const size_t S = vect[c].size();
    std::memcpy( &buffer[buff_pos], vect[c].data(), S );
    buff_pos += S;
    buffer[buff_pos++] = separator;
  }
  std::memcpy( &buffer[buff_pos], vect.back().data(), vect.back().size() );
}

void Parser::applyNameTransform(const std::string& msg_identifier,
                                const FlatMessage& container,
                                RenamedValues *renamed_value )
{
  if( _rule_cache_dirty )
  {
    updateRuleCache();
  }
  auto rule_found = _rule_caches.find(msg_identifier);

  const size_t num_values = container.value.size();
  const size_t num_names  = container.name.size();

  renamed_value->resize( container.value.size() );
  //DO NOT clear() renamed_value

  _alias_array_pos.resize( num_names );
  _formatted_string.reserve( num_values );
  _formatted_string.clear();

  _substituted.resize( num_values );
  for(size_t i=0; i<num_values; i++) { _substituted[i] = false; }

  // size_t renamed_index = 0;

  if( rule_found != _rule_caches.end() )
  {
    const std::vector<RulesCache>& rules_cache = rule_found->second;

    for(const RulesCache& cache: rules_cache)
    {
      const SubstitutionRule* rule         = cache.rule;
      const StringTreeNode*   pattern_head = cache.pattern_head;
      const StringTreeNode*   alias_head   = cache.alias_head;

      if( !pattern_head || !alias_head  ) continue;

      for (size_t n=0; n<num_names; n++)
      {
        const StringTreeLeaf& name_leaf = container.name[n].first;
        _alias_array_pos[n] = PatternMatchAndIndexPosition(name_leaf, alias_head);
      }

      for(size_t value_index = 0; value_index<num_values; value_index++)
      {
        if( _substituted[value_index]) continue;

        const auto& value_leaf = container.value[value_index];

        const StringTreeLeaf& leaf = value_leaf.first;

        int pattern_array_pos = PatternMatchAndIndexPosition(leaf,   pattern_head);

        if( pattern_array_pos>= 0) // -1 if pattern doesn't match
        {
          const std::string* new_name = nullptr;

          for (size_t n=0; n < num_names; n++)
          {
            const auto & it = container.name[n];
            const StringTreeLeaf& alias_leaf = it.first;

            if( _alias_array_pos[n] >= 0 ) // -1 if pattern doesn't match
            {
              if( alias_leaf.index_array[ _alias_array_pos[n] ] ==
                  leaf.index_array[ pattern_array_pos] )
              {
                new_name =  &(it.second);
                break;
              }
            }
          }

          //--------------------------
          if( new_name )
          {
            absl::InlinedVector<absl::string_view, 12> concatenated_name;

            const StringTreeNode* node_ptr = leaf.node_ptr;

            int position = leaf.index_array.size()-1;

            while( node_ptr != pattern_head)
            {
              const absl::string_view& str_val = node_ptr->value();

              if( isNumberPlaceholder( str_val ) )
              {
                char buffer[16];
                const int number = leaf.index_array[position--];
                int str_size = print_number( buffer, number );
                _formatted_string.push_back( std::string(buffer, str_size) );
                concatenated_name.push_back( _formatted_string.back() );
              }
              else{
                concatenated_name.push_back( str_val );
              }
              node_ptr = node_ptr->parent();
            }

            for (int s = rule->substitution().size()-1; s >= 0; s--)
            {
              const absl::string_view& str_val = rule->substitution()[s];

              if( isSubstitutionPlaceholder(str_val) )
              {
                concatenated_name.push_back( *new_name );
                position--;
              }
              else{ concatenated_name.push_back( str_val ); }
            }

            for (size_t p = 0; p < rule->pattern().size() && node_ptr; p++)
            {
              node_ptr = node_ptr->parent();
            }

            while( node_ptr )
            {
              absl::string_view str_val = node_ptr->value();

              if( isNumberPlaceholder(str_val) )
              {
                char buffer[16];
                const int number = leaf.index_array[position--];
                int str_size = print_number( buffer, number );
                _formatted_string.push_back( std::string(buffer, str_size) );
                concatenated_name.push_back( _formatted_string.back() );
              }
              else{
                concatenated_name.push_back( str_val );
              }
              node_ptr = node_ptr->parent();
            }

            //------------------------
            auto& renamed_pair = (*renamed_value)[value_index];

            std::reverse(concatenated_name.begin(), concatenated_name.end());
            JoinStrings( concatenated_name, '/', renamed_pair.first);
            renamed_pair.second  = value_leaf.second ;

            _substituted[value_index] = true;

          }// end if( new_name )
        }// end if( PatternMatching )
      } // end for values
    } // end for rules
  } //end rule found

  for(size_t value_index=0; value_index< container.value.size(); value_index++)
  {
    if( !_substituted[value_index] )
    {
      const std::pair<StringTreeLeaf, Variant> & value_leaf = container.value[value_index];

      std::string& destination = (*renamed_value)[value_index].first;
      value_leaf.first.toStr( destination );
      (*renamed_value)[value_index].second = value_leaf.second ;
    }
  }
}

}