public static string GetMessageClassPath(string inFilePath, string outPath)
{
string rosPackageName = MessageAutoGen.GetRosPackageName(inFilePath);
string outFolder = MessageAutoGen.GetMessageOutFolder(outPath, rosPackageName);
string extension = Path.GetExtension(inFilePath);
string className = MsgAutoGenUtilities.CapitalizeFirstLetter(Path.GetFileNameWithoutExtension(inFilePath));
return(Path.Combine(outFolder, "msg", className + ".cs"));
}
public static string[] GetActionClassPaths(string inFilePath, string outPath)
{
string rosPackageName = MessageAutoGen.GetRosPackageName(inFilePath);
string outFolder = MessageAutoGen.GetMessageOutFolder(outPath, rosPackageName);
string extension = Path.GetExtension(inFilePath);
string className = MsgAutoGenUtilities.CapitalizeFirstLetter(Path.GetFileNameWithoutExtension(inFilePath)) + MsgAutoGenUtilities.ActionClassSuffix;
string[] result = new string[types.Length];
for (int Idx = 0; Idx < types.Length; ++Idx)
{
result[Idx] = Path.Combine(outFolder, "action", className + types[Idx] + ".cs");
}
return(result);
}
public static List <string> GenerateSingleService(string inPath, string outPath, string rosPackageName = "", bool verbose = false)
{
// If no ROS package name is provided, extract from path
if (rosPackageName.Equals(""))
{
rosPackageName = MessageAutoGen.GetRosPackageName(inPath);
}
outPath = Path.Combine(outPath, MsgAutoGenUtilities.ResolvePackageName(rosPackageName));
string inFileName = Path.GetFileNameWithoutExtension(inPath);
if (verbose)
{
Console.WriteLine("Parsing: " + inPath);
Console.WriteLine("Output Location: " + outPath);
}
MessageTokenizer tokenizer = new MessageTokenizer(inPath, new HashSet <string>(MsgAutoGenUtilities.builtInTypesMapping.Keys));
List <List <MessageToken> > listsOfTokens = tokenizer.Tokenize();
if (listsOfTokens.Count != 2)
{
throw new MessageParserException("Unexpected number of sections. Service should have 2 sections.");
}
List <string> warnings = new List <string>();
for (int i = 0; i < listsOfTokens.Count; i++)
{
List <MessageToken> tokens = listsOfTokens[i];
// Service is made up of request and response
string className = inFileName + MsgAutoGenUtilities.ServiceClassSuffix + types[i];
MessageParser parser = new MessageParser(
tokens,
outPath,
rosPackageName,
"srv",
MsgAutoGenUtilities.builtInTypesMapping,
MsgAutoGenUtilities.builtInTypesDefaultInitialValues,
className,
subtopic: i == 0 ? MessageSubtopic.Default : MessageSubtopic.Response);
parser.Parse();
warnings.AddRange(parser.GetWarnings());
}
return(warnings);
}
