From 32e4bee157e3a37643a6986d0731ddbc1c5e9172 Mon Sep 17 00:00:00 2001
From: Alex Mikhalev <alexmikhalevalex@gmail.com>
Date: Fri, 19 Nov 2021 21:30:28 -0800
Subject: [PATCH] use ros_message::Time

---
 Cargo.toml                 |  2 ++
 src/chunk.rs               |  3 +-
 src/index.rs               |  6 ++--
 src/layout.rs              | 58 ++++++++++++++++++++++++++++++++++++++
 src/lib.rs                 | 10 +++++--
 src/parse.rs               |  2 +-
 src/parse/header.rs        |  8 +++---
 src/parse/header/fields.rs | 31 ++++++++------------
 8 files changed, 90 insertions(+), 30 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 932d31b..3560805 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -21,6 +21,8 @@ regex = "1.5.4"
 ros_message = "0.1.0"
 smallvec = "1.6.1"
 thiserror = "1.0.28"
+smol_str = { version = "0.1.17", default-features = false }
+indexmap = "1.7.0"
 
 [dev-dependencies]
 color-eyre = "0.5.11"
diff --git a/src/chunk.rs b/src/chunk.rs
index dddd09b..e5c2172 100644
--- a/src/chunk.rs
+++ b/src/chunk.rs
@@ -4,9 +4,10 @@ use eyre::bail;
 
 use crate::{
     error,
-    parse::{Header, Op, Time},
+    parse::{Header, Op},
     reader::BagReader,
     Error, Result,
+    Time
 };
 
 #[derive(Clone, Copy, Debug)]
diff --git a/src/index.rs b/src/index.rs
index 5025d8d..1af4d88 100644
--- a/src/index.rs
+++ b/src/index.rs
@@ -6,9 +6,9 @@ use nom::{number::streaming::le_u32, sequence::tuple, Parser};
 
 use crate::{
     error,
-    parse::{self, Header, Op, Time},
+    parse::{self, header::fields::parse_time, Header, Op},
     reader::BagReader,
-    Result,
+    Result, Time,
 };
 
 #[derive(Debug)]
@@ -188,7 +188,7 @@ pub struct IndexEntry {
 
 impl IndexEntry {
     pub fn parse(input: parse::Input) -> parse::IResult<Self> {
-        tuple((Time::parse, le_u32))
+        tuple((parse_time, le_u32))
             .map(|(time, offset)| IndexEntry { time, offset })
             .parse(input)
     }
diff --git a/src/layout.rs b/src/layout.rs
index e69de29..821898f 100644
--- a/src/layout.rs
+++ b/src/layout.rs
@@ -0,0 +1,58 @@
+use ros_message::I8Variant;
+
+use crate::SmallStr;
+
+#[derive(Clone, Debug)]
+pub enum FieldType {
+    /// Represents `bool`.
+    Bool,
+    /// Represents `int8` or `byte`.
+    I8(I8Variant),
+    /// Represents `int16`.
+    I16,
+    /// Represents `int32`.
+    I32,
+    /// Represents `int64`.
+    I64,
+    /// Represents `uint8` or `char`.
+    U8(I8Variant),
+    /// Represents `uint16`.
+    U16,
+    /// Represents `uint32`.
+    U32,
+    /// Represents `uint64`.
+    U64,
+    /// Represents `float32`.
+    F32,
+    /// Represents `float64`.
+    F64,
+    /// Represents `string`.
+    String,
+    /// Represents `time`.
+    Time,
+    /// Represents `duration`.
+    Duration,
+    // Another messgage type.
+    Message(MessageLayoutRef),
+}
+
+#[derive(Clone, Debug)]
+pub struct FieldLayout {
+    pub typ: FieldType,
+    pub name: SmallStr,
+    pub multiplicity: Multiplicity,
+}
+
+#[derive(Clone, Debug, PartialEq, Eq)]
+pub enum Multiplicity {
+	Unit,
+	Fixed(usize),
+	Dynamic,
+}
+
+#[derive(Clone, Debug)]
+pub struct MessageLayout {
+    fields: Vec<FieldLayout>,
+}
+
+pub type MessageLayoutRef = std::sync::Arc<MessageLayout>;
diff --git a/src/lib.rs b/src/lib.rs
index 1210678..602df12 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -2,10 +2,16 @@ pub mod bag;
 pub mod chunk;
 mod error;
 pub mod index;
+pub mod info;
+pub mod layout;
 pub mod message;
 pub mod parse;
 pub mod reader;
-pub mod info;
 
-pub use error::{Error, Result};
+pub use ros_message::Time;
+use smol_str::SmolStr;
+
 pub use bag::Bag;
+pub use error::{Error, Result};
+
+pub type SmallStr = SmolStr;
diff --git a/src/parse.rs b/src/parse.rs
index f4a4e6b..e935464 100644
--- a/src/parse.rs
+++ b/src/parse.rs
@@ -3,7 +3,7 @@ pub mod header;
 mod version;
 
 pub use error::{Error, ErrorKind};
-pub use header::{Header, Op, Time};
+pub use header::{Header, Op};
 pub use version::Version;
 
 pub type Input<'a> = &'a [u8];
diff --git a/src/parse/header.rs b/src/parse/header.rs
index 96b0eaa..76ad507 100644
--- a/src/parse/header.rs
+++ b/src/parse/header.rs
@@ -12,14 +12,14 @@ use nom::{
 use smallvec::SmallVec;
 
 use super::{IResult, Input};
-use crate::Result;
+use crate::{Result, Time};
 
 mod error;
-mod fields;
+pub mod fields;
 
 pub use self::{
     error::{FieldDataError, MissingFieldError},
-    fields::{Op, Time},
+    fields::Op,
 };
 
 #[derive(Clone, Debug)]
@@ -95,7 +95,7 @@ impl Header {
     }
 
     pub fn read_time(&self, field: &[u8]) -> Result<Time> {
-        self.read_u64(field).map(Time::from_packed)
+        self.find_field(field).and_then(fields::read_time)
     }
 
     pub fn read_u32(&self, field: &[u8]) -> Result<u32> {
diff --git a/src/parse/header/fields.rs b/src/parse/header/fields.rs
index 6ed9195..458c56f 100644
--- a/src/parse/header/fields.rs
+++ b/src/parse/header/fields.rs
@@ -4,6 +4,7 @@ use nom::{
     Parser,
 };
 use num_enum::TryFromPrimitive;
+use ros_message::Time;
 
 use crate::parse::IResult;
 
@@ -29,28 +30,20 @@ impl Op {
     }
 }
 
-#[derive(Clone, Copy, Debug, PartialEq, Eq, PartialOrd, Ord)]
-pub struct Time {
-    pub sec: u32,
-    pub nsec: u32,
+fn time_from_packed(packed: u64) -> Time {
+    Time {
+        sec: packed as u32,
+        nsec: (packed >> 32) as u32,
+    }
 }
 
-impl Time {
-    pub fn from_packed(packed: u64) -> Time {
-        Time {
-            sec: packed as u32,
-            nsec: (packed >> 32) as u32,
-        }
-    }
+pub fn parse_time(input: Input) -> IResult<Time> {
+    le_u64.map(time_from_packed).parse(input)
+}
 
-    pub fn parse(input: Input) -> IResult<Self> {
-        le_u64.map(Time::from_packed).parse(input)
-    }
-
-    pub fn read(input: Input) -> Result<Self> {
-        let (_, x) = Self::parse(input).map_err(FieldDataError::from)?;
-        Ok(x)
-    }
+pub fn read_time(input: Input) -> Result<Time> {
+    let (_, x) = parse_time(input).map_err(FieldDataError::from)?;
+    Ok(x)
 }
 
 pub fn read_u32(input: Input) -> Result<u32> {