private static void Run(List <string> messageDirs, List <string> assemblies = null, string outputdir = null, bool interactive = false, string configuration = "Debug", string projectName = "Messages")
{
var loggerFactory = new LoggerFactory();
loggerFactory.AddProvider(
new ConsoleLoggerProvider(
(string text, LogLevel logLevel) => { return(logLevel >= LogLevel.Debug); }, true)
);
ApplicationLogging.LoggerFactory = loggerFactory;
Logger = ApplicationLogging.CreateLogger("Program");
string yamlparser_parent = "";
DirectoryInfo di = new DirectoryInfo(Directory.GetCurrentDirectory());
while (di != null && di.Name != "YAMLParser")
{
di = Directory.GetParent(di.FullName);
}
if (di == null)
{
throw new InvalidOperationException("Not started from within YAMLParser directory.");
}
di = Directory.GetParent(di.FullName);
yamlparser_parent = di.FullName;
if (outputdir == null)
{
outputdir = yamlparser_parent;
outputdir = Path.Combine(outputdir, DEFAULT_OUTPUT_FOLDERNAME);
}
Templates.LoadTemplateStrings(Path.Combine(yamlparser_parent, "YAMLParser", "TemplateProject"));
MessageTypeRegistry.Default.ParseAssemblyAndRegisterRosMessages(MessageTypeRegistry.Default.GetType().GetTypeInfo().Assembly);
if (assemblies != null)
{
string hints = "";
foreach (var assembly in assemblies)
{
var rosNetMessages = Assembly.LoadFile(Path.GetFullPath(assembly));
MessageTypeRegistry.Default.ParseAssemblyAndRegisterRosMessages(rosNetMessages);
hints += $@"
<ItemGroup>
<Reference Include=""Messages"">
<HintPath>{assembly}</HintPath>
</Reference>
</ItemGroup>
";
}
Templates.MessagesProj = Templates.MessagesProj.Replace("$$HINTS$$", hints);
}
else
{
Templates.MessagesProj = Templates.MessagesProj.Replace("$$HINTS$$", "");
}
var paths = new List <MsgFileLocation>();
var pathssrv = new List <MsgFileLocation>();
var actionFileLocations = new List <MsgFileLocation>();
Console.WriteLine("Generatinc C# classes for ROS Messages...\n");
foreach (var messageDir in messageDirs)
{
string d = new DirectoryInfo(Path.GetFullPath(messageDir)).FullName;
Console.WriteLine("Looking in " + d);
MsgFileLocator.findMessages(paths, pathssrv, actionFileLocations, d);
}
// first pass: create all msg files (and register them in static resolver dictionary)
var baseTypes = MessageTypeRegistry.Default.GetTypeNames().ToList();
foreach (MsgFileLocation path in paths)
{
var typeName = $"{path.package}/{path.basename}";
if (baseTypes.Contains(typeName))
{
Logger.LogInformation($"Skip file {path} because MessageBase already contains this message");
}
else
{
msgsFiles.Add(new MsgFile(path));
}
}
Logger.LogDebug($"Added {msgsFiles.Count} message files");
foreach (MsgFileLocation path in pathssrv)
{
srvFiles.Add(new SrvFile(path));
}
// secend pass: parse and resolve types
foreach (var msg in msgsFiles)
{
msg.ParseAndResolveTypes();
}
foreach (var srv in srvFiles)
{
srv.ParseAndResolveTypes();
}
var actionFileParser = new ActionFileParser(actionFileLocations);
actionFiles = actionFileParser.GenerateRosMessageClasses();
//var actionFiles = new List<ActionFile>();
if (paths.Count + pathssrv.Count > 0)
{
MakeTempDir(outputdir);
GenerateFiles(msgsFiles, srvFiles, actionFiles, outputdir);
GenerateProject(msgsFiles, srvFiles, projectName, outputdir);
BuildProject(configuration, projectName, outputdir);
}
else
{
Console.WriteLine("Usage: YAMLParser.exe <SolutionFolder> [... other directories to search]\n The Messages dll will be output to <SolutionFolder>/Messages/Messages.dll");
if (interactive)
{
Console.ReadLine();
}
Environment.Exit(1);
}
if (interactive)
{
Console.WriteLine("Finished. Press enter.");
Console.ReadLine();
}
}
