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use std::{fs, path::Path};
use anyhow::{Context, Result};
use regex::Regex;
use super::{error::RclMsgError, message::parse_message_string};
use crate::types::Action;
const ACTION_GOAL_SUFFIX: &str = "_Goal";
const ACTION_RESULT_SUFFIX: &str = "_Result";
const ACTION_FEEDBACK_SUFFIX: &str = "_Feedback";
pub fn parse_action_file<P: AsRef<Path>>(pkg_name: &str, interface_file: P) -> Result<Action> {
parse_action_string(
pkg_name,
interface_file
.as_ref()
.file_stem()
.unwrap()
.to_str()
.unwrap(),
fs::read_to_string(interface_file.as_ref())?.as_str(),
)
.with_context(|| format!("Parse file error: {}", interface_file.as_ref().display()))
}
fn parse_action_string(pkg_name: &str, action_name: &str, action_string: &str) -> Result<Action> {
let re = Regex::new(r"(?m)^---\r?$").unwrap();
let action_blocks: Vec<_> = re.split(action_string).collect();
if action_blocks.len() != 3 {
return Err(RclMsgError::InvalidActionSpecification(format!(
"Number of '---' separators nonconformant with action definition (is {}):\n{action_blocks:?}",
action_blocks.len(),
))
.into());
}
Ok(Action {
package: pkg_name.into(),
name: action_name.into(),
goal: parse_message_string(
pkg_name,
&format!("{}{}", action_name, ACTION_GOAL_SUFFIX),
action_blocks[0],
)?,
result: parse_message_string(
pkg_name,
&format!("{}{}", action_name, ACTION_RESULT_SUFFIX),
action_blocks[1],
)?,
feedback: parse_message_string(
pkg_name,
&format!("{}{}", action_name, ACTION_FEEDBACK_SUFFIX),
action_blocks[2],
)?,
})
}
#[cfg(test)]
mod test {
use std::path::PathBuf;
use super::*;
use crate::types::{primitives::*, sequences::*, MemberType};
fn parse_action_def(srv_name: &str) -> Result<Action> {
let path = PathBuf::from(env!("CARGO_MANIFEST_DIR"))
.join(format!("test_msgs/action/{}.action", srv_name));
parse_action_file("test_msgs", path)
}
#[test]
fn parse_fibonacci() -> Result<()> {
let action = parse_action_def("Fibonacci")?;
assert_eq!(action.package, "test_msgs".to_string());
assert_eq!(action.name, "Fibonacci".to_string());
assert_eq!(action.goal.name, "Fibonacci_Goal".to_string());
assert_eq!(action.goal.members.len(), 1);
assert_eq!(action.goal.members[0].name, "order".to_string());
assert_eq!(action.goal.members[0].r#type, BasicType::I32.into());
assert_eq!(action.goal.constants.len(), 0);
assert_eq!(action.result.name, "Fibonacci_Result".to_string());
assert_eq!(action.result.members.len(), 1);
assert_eq!(action.result.members[0].name, "sequence".to_string());
assert_eq!(
action.result.members[0].r#type,
MemberType::Sequence(Sequence {
value_type: NestableType::BasicType(BasicType::I32)
})
);
assert_eq!(action.result.constants.len(), 0);
assert_eq!(action.feedback.name, "Fibonacci_Feedback".to_string());
assert_eq!(action.feedback.members.len(), 1);
assert_eq!(action.feedback.members[0].name, "sequence".to_string());
assert_eq!(
action.feedback.members[0].r#type,
MemberType::Sequence(Sequence {
value_type: NestableType::BasicType(BasicType::I32)
})
);
assert_eq!(action.feedback.constants.len(), 0);
Ok(())
}
}
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