00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright 2016-2017 Davide Faconti 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * *******************************************************************/ 00034 00035 00036 #include <boost/algorithm/string.hpp> 00037 #include <boost/utility/string_ref.hpp> 00038 #include <boost/utility/string_ref.hpp> 00039 #include "ros_type_introspection/ros_message.hpp" 00040 #include <boost/regex.hpp> 00041 #include <boost/algorithm/string/regex.hpp> 00042 00043 namespace RosIntrospection{ 00044 00045 ROSMessage::ROSMessage(const std::string &msg_def) 00046 { 00047 std::istringstream messageDescriptor(msg_def); 00048 boost::match_results<std::string::const_iterator> what; 00049 00050 for (std::string line; std::getline(messageDescriptor, line, '\n') ; ) 00051 { 00052 std::string::const_iterator begin = line.begin(), end = line.end(); 00053 00054 // Skip empty line or one that is a comment 00055 if (boost::regex_search( begin, end, what, 00056 boost::regex("(^\\s*$|^\\s*#)"))) 00057 { 00058 continue; 00059 } 00060 00061 if( line.compare(0, 5, "MSG: ") == 0) 00062 { 00063 line.erase(0,5); 00064 _type = ROSType(line); 00065 } 00066 else{ 00067 auto new_field = ROSField(line); 00068 _fields.push_back(new_field); 00069 } 00070 } 00071 } 00072 00073 void ROSMessage::updateMissingPkgNames(const std::vector<const ROSType*> &all_types) 00074 { 00075 for (ROSField& field: _fields) 00076 { 00077 // if package name is missing, try to find msgName in the list of known_type 00078 if( field.type().pkgName().size() == 0 ) 00079 { 00080 for (const ROSType* known_type: all_types) 00081 { 00082 if( field.type().msgName().compare( known_type->msgName() ) == 0 ) 00083 { 00084 field._type.setPkgName( known_type->pkgName() ); 00085 break; 00086 } 00087 } 00088 } 00089 } 00090 } 00091 00092 } // end namespace 00093 00094