ros_message.cpp

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#include <boost/algorithm/string.hpp>
#include <boost/utility/string_ref.hpp>
#include <boost/utility/string_ref.hpp>
#include "ros_type_introspection/ros_message.hpp"
#include <boost/regex.hpp>
#include <boost/algorithm/string/regex.hpp>

namespace RosIntrospection
{
ROSMessage::ROSMessage(const std::string& msg_def)
{
  std::istringstream messageDescriptor(msg_def);
  boost::match_results<std::string::const_iterator> what;

  for (std::string line; std::getline(messageDescriptor, line, '\n');)
  {
    std::string::const_iterator begin = line.begin(), end = line.end();

    static const boost::regex regex("(^\\s*$|^\\s*#)");

    // Skip empty line or one that is a comment
    if (boost::regex_search(begin, end, what, regex))
    {
      continue;
    }

    // Trim start of line
    line.erase(line.begin(), std::find_if(line.begin(), line.end(), std::not1(std::ptr_fun<int, int>(std::isspace))));

    if (line.compare(0, 5, "MSG: ") == 0)
    {
      line.erase(0, 5);
      _type = ROSType(line);
    }
    else
    {
      auto new_field = ROSField(line);
      _fields.push_back(new_field);
    }
  }
}

void ROSMessage::updateMissingPkgNames(const std::vector<const ROSType*>& all_types)
{
  for (ROSField& field : _fields)
  {
    // if package name is missing, try to find msgName in the list of known_type
    if (field.type().pkgName().size() == 0)
    {
      for (const ROSType* known_type : all_types)
      {
        if (field.type().msgName().compare(known_type->msgName()) == 0)
        {
          field._type.setPkgName(known_type->pkgName());
          break;
        }
      }
    }
  }
}

}  // namespace RosIntrospection