void BagInfo::readRawMsgDefs(const vector<const rosbag::ConnectionInfo*> &connections) {
for (int i = 0; i < connections.size(); ++i) {
const rosbag::ConnectionInfo *ci = connections.at(i);
if (msg_defs_.count(ci->datatype) == 0) {
const boost::regex msg_sep_re(g_message_split_regexp);
vector<string> split;
boost::split_regex(split, ci->msg_def, msg_sep_re);
ROSMessageFields rmf;
boost::trim(split.at(0));
ROSType type;
type.populate(ci->datatype);
// Add mapping from fully qualified type
msg_defs_[type.base_type] = split.at(0);
// Add mapping from name (i.e., no package)
msg_defs_[type.msg_name] = "MSG: " + ci->datatype + "\n" + split.at(0);
for (size_t i = 1; i < split.size(); ++i) {
rmf.populate(split.at(i));
size_t first_newline = split.at(i).find('\n');
if (first_newline == string::npos) {
throw invalid_argument(split.at(i));
}
string msg_def = split.at(i).substr(first_newline);
boost::trim(msg_def);
// Add mapping from fully qualified type
msg_defs_[rmf.type().base_type] = msg_def;
// Add mapping from name (i.e., no package)
boost::trim(split.at(i));
msg_defs_[rmf.type().msg_name] = split.at(i);
}
}
}
}
void ROSTypeMap::populate(const string &msg_def) {
// Split into disparate message type definitions
std::vector<std::string> split;
boost::regex msg_sep_re(g_message_split_regexp);
boost::split_regex(split, msg_def, msg_sep_re);
// Parse individual message types and make map from msg_name -> qualified name
std::vector<ROSMessageFields*> types(split.size());
for (size_t i = 0; i < split.size(); ++i) {
ROSMessageFields *rmf = new ROSMessageFields();
try {
rmf->populate(split[i]);
} catch (exception &e) {
delete rmf;
throw;
}
type_map_[rmf->type().name] = rmf;
resolver_[rmf->type().msg_name].push_back(rmf->type().pkg_name);
// If we throw, rmf will be freed because it's in type_map_
if (!rmf->type().is_qualified) {
throw invalid_argument("Couldn't determine type in message:\n" +
split[i] + "\nFull message def is:\n" + msg_def);
}
}
for (map<string, ROSMessageFields*>::iterator it = type_map_.begin();
it != type_map_.end();
++it) {
ROSMessageFields *rmf = (*it).second;
for (int i = 0; i < rmf->nfields(); ++i) {
const ROSMessageFields::Field &field = rmf->at(i);
if (!field.type.is_qualified) {
const vector<string> qualified_names = resolver_[field.type.msg_name];
if (qualified_names.size() == 1) {
rmf->setFieldPkgName(i, qualified_names[0]);
} else {
throw invalid_argument("Multiple types for " + field.type.msg_name +
"\nMessage def: \n" + msg_def);
}
}
}
}
}