Split into modules #1

Cargo.toml

@@ -6,3 +6,6 @@ authors = [ "Jon Binney <jon.binney@gmail.com>" ]
 [lib]
 name = "ros_rust"
 
+[[bin]]
+name = "ros_rust_demo"
+

src/bin/ros_rust_demo.rs

@@ -0,0 +1,17 @@
+#[allow(dead_code)]
+fn main() {
+    println!("Starting node");
+
+    //let master_uri = "localhost:11311";
+    //let node_name = "foo_node";
+    //let caller_api = "localhost:12345";
+
+    //let node = MasterProxy {
+    //    master_uri: String::from_str(master_uri),
+    //    caller_id: String::from_str(node_name),
+    //    caller_api: String::from_str(caller_api)
+    //    };
+
+    //let response = node.get_published_topics();
+    //println!("response: {}", response);
+}

src/lib.rs

@@ -0,0 +1,4 @@
+extern crate regex;
+
+pub mod xmlrpc;
+

src/master_proxy.rs

@@ -0,0 +1,48 @@
+use std::fmt;
+use std::string;
+
+struct MasterProxy {
+    master_uri: String,
+    caller_id: String,
+    caller_api: String
+}
+
+
+impl MasterProxy {
+    fn get_published_topics(&self) -> String
+    {
+        let request = format!(
+            "<?xml version=\"1.0\"?>\n\
+            <methodCall>\n\
+            <methodName>getPublishedTopics</methodName>\n\
+            <params>\n\
+            <param>\n\
+            <value><string>{}</string></value>\n\
+            <value><string></string></value>\n\
+            </param>\n\
+            </params>\n\
+            </methodCall>\n", self.caller_id);
+
+        execute_xmlrpc_request(self.master_uri.as_slice(), request.as_slice())
+    }
+
+    fn register_subscriber(&self,  topic: &str, topic_type: &str) {
+        let request = format!(
+            "<?xml version=\"1.0\"?>\n\
+            <methodCall>\n\
+            <methodName>registerSubscriber</methodName>\n\
+            <params>\n\
+            <param>\n\
+            <value><string>{}</string></value>\n\
+            <value><string>{}</string></value>\n\
+            <value><string>{}</string></value>\n\
+            <value><string>{}</string></value>\n\
+            </param>\n\
+            </params>\n\
+            </methodCall>\n", self.caller_id, topic, topic_type, self.caller_api);
+
+        execute_xmlrpc_request(self.master_uri.as_slice(), request.as_slice());
+    }
+}
+
+

src/xmlrpc.rs

@@ -0,0 +1,75 @@
+use std::io::TcpStream;
+use regex::Regex;
+
+pub struct XMLRPCProxy {
+    server_uri: String
+}
+
+impl XMLRPCProxy {
+    pub fn execute_request(&self, request: &str) -> Vec<String> {
+
+        let mut stream = TcpStream::connect(self.server_uri.as_slice()).unwrap();
+
+        let header = format!(
+            "POST /RPC2 HTTP/1.0\n\
+            User-Agent: RosRust/0.0\n\
+            Host: localhost\n\
+            Content-Type: text/xml\n\
+            Content-length: {content_length}\n\n", content_length=request.len());
+
+        let message = header + request.to_string();
+
+        println!("request: {}", message);
+
+        // Send request to server
+        match stream.write(message.as_bytes()) {
+            Ok(_) => (),
+            Err(err) => panic!("{}", err),
+        }
+
+        // Read response from server
+        let response_str = match stream.read_to_string() {
+            Ok(response_str) => response_str,
+            Err(err) => panic!("{}", err),
+        };
+
+        // Parse reponse
+        parse_response(response_str.as_slice())
+    }
+}
+
+fn parse_response(response_str: &str) -> Vec<String> {
+    let param_re = match Regex::new(r"<value><string>([^<]*)</string></value>") {
+        Ok(re) => re,
+        Err(err) => panic!("{}", err),
+    };
+
+    let mut params: Vec<String> = vec![];
+    for cap in param_re.captures_iter(response_str) {
+        params.push(cap.at(1).to_string());
+        println!("{}", cap.at(1));
+    }
+    params
+}
+
+#[test]
+fn test_parse_good_response() {
+    let response_str =
+    "HTTP/1.1 200 OK\n\
+    Content-Length: 158\n\
+    Content-Type: text/xml\n\n\
+    <?xml version=\"1.0\"?>\n\
+    <methodResponse>\n\
+       <params>\n\
+          <param>\n\
+             <value><string>param1</string></value>\n\
+          </param>\n\
+       </params>\n\
+    </methodResponse>\n";
+
+    let params = parse_response(response_str);
+    let mut correct_result: Vec<String> = vec![];
+    correct_result.push("param1".to_string());
+    assert_eq!(params, correct_result);
+}
+