// Tutorial Part 2 without the Publisher object
private void AddRosMessages()
{
if (generateRosMessages)
{
// Generate ROS messages
MessageAutoGen.GenerateSingleMessage(
Path.Combine(rosSrcDirectory, moveitMsgPackageName, msgDirectory, robotTrajectoryMessageFileName),
rosMessagesDirectory, moveitMsgPackageName);
MessageAutoGen.GenerateDirectoryMessages(
Path.Combine(rosSrcDirectory, niryoMoveitPackageName, msgDirectory),
rosMessagesDirectory);
// Generate ROS services
ServiceAutoGen.GenerateSingleService(
Path.Combine(rosSrcDirectory, niryoMoveitPackageName, srvDirectory, moverServiceFileName),
rosMessagesDirectory, niryoMoveitPackageName);
}
// Recompile ROS message scripts and external scripts
List <string> scripts = new List <string>();
scripts.AddRange(Directory.GetFiles(rosMessagesDirectory, scriptPattern, SearchOption.AllDirectories));
scripts.AddRange(Directory.GetFiles(externalScriptsDirectory));
RecompileScripts(scripts.ToArray());
}
// Tutorial Part 2 without the Publisher object
void AddRosMessages()
{
if (m_GenerateRosMessages)
{
// Generate ROS messages
MessageAutoGen.GenerateSingleMessage(
Path.Combine(k_RosSrcDirectory, k_MoveitMsgPackageName, k_MsgDirectory,
k_RobotTrajectoryMessageFileName),
k_RosMessagesDirectory, k_MoveitMsgPackageName);
MessageAutoGen.GenerateDirectoryMessages(
Path.Combine(k_RosSrcDirectory, k_NiryoMoveitPackageName, k_MsgDirectory),
k_RosMessagesDirectory);
// Generate ROS services
ServiceAutoGen.GenerateSingleService(
Path.Combine(k_RosSrcDirectory, k_NiryoMoveitPackageName, k_SrvDirectory, k_MoverServiceFileName),
k_RosMessagesDirectory, k_NiryoMoveitPackageName);
}
// Recompile ROS message scripts and external scripts
var scripts = new List <string>();
scripts.AddRange(Directory.GetFiles(k_RosMessagesDirectory, k_ScriptPattern, SearchOption.AllDirectories));
scripts.AddRange(Directory.GetFiles(k_ExternalScriptsDirectory));
RecompileScripts(scripts.ToArray());
// Register Ros message names and their deserialize function
foreach (var typeFullName in m_RosGeneratedTypeFullName)
{
m_Assembly.GetType(typeFullName).GetMethod(k_RegisterMethodName).Invoke(null, null);
}
}
public void TestMessageBuildSingle_ThrowsNoExceptions(string messageToBuild)
{
var msgPath = MessageAutoGen.GetMessageClassPath(messageToBuild, m_MessageGenOutputPath);
Debug.Log($"Generating code for {messageToBuild}, output should be at {msgPath}");
WarnIfAlreadyExists(msgPath, PathType.File);
MessageAutoGen.GenerateSingleMessage(messageToBuild, m_MessageGenOutputPath);
AssetDatabase.Refresh();
AssertExists(msgPath, PathType.File);
}
public void TestMessageBuildDirectory_ThrowsNoExceptions(string directoryToBuild)
{
var msgPath = MessageAutoGen.GetMessageClassPath(directoryToBuild, m_MessageGenOutputPath);
var msgDirectory = Path.GetDirectoryName(msgPath);
Debug.Log($"Generating code in {directoryToBuild}, output should be in {msgDirectory}");
WarnIfAlreadyExists(msgDirectory, PathType.Directory);
MessageAutoGen.GenerateDirectoryMessages(directoryToBuild, m_MessageGenOutputPath);
AssetDatabase.Refresh();
AssertExists(msgDirectory, PathType.Directory);
}
public override void OnImportAsset(AssetImportContext ctx)
{
string inputPath = Path.Combine(Directory.GetCurrentDirectory(), ctx.assetPath);
string outputPath = MessageGenBrowserSettings.Get().outputPath;
MessageAutoGen.GenerateSingleMessage(inputPath, outputPath);
string builtPath = MessageAutoGen.GetMessageClassPath(inputPath, outputPath);
string builtAssetPath = Path.Combine("Assets", MessageGenBrowserSettings.ToRelativePath(builtPath));
AssetDatabase.ImportAsset(builtAssetPath);
Object messageClass = AssetDatabase.LoadAssetAtPath(builtAssetPath, typeof(MonoScript));
if (messageClass != null)
{
ctx.AddObjectToAsset("messageClass", messageClass);
}
}
CachedEntryStatus GetFileStatus(string path)
{
switch (Path.GetExtension(path))
{
case ".msg":
string builtMessagePath = MessageAutoGen.GetMessageClassPath(path, MessageGenBrowserSettings.Get().outputPath);
return(File.Exists(builtMessagePath) ? CachedEntryStatus.BuiltMsgFile : CachedEntryStatus.UnbuiltMsgFile);
case ".srv":
string[] builtServicePaths = ServiceAutoGen.GetServiceClassPaths(path, MessageGenBrowserSettings.Get().outputPath);
return(builtServicePaths.All(file => File.Exists(file)) ? CachedEntryStatus.BuiltSrvFile : CachedEntryStatus.UnbuiltSrvFile);
case ".action":
string[] builtActionPaths = ActionAutoGen.GetActionClassPaths(path, MessageGenBrowserSettings.Get().outputPath);
return(builtActionPaths.All(file => File.Exists(file)) ? CachedEntryStatus.BuiltActionFile : CachedEntryStatus.UnbuiltActionFile);
}
return(CachedEntryStatus.Ignored);
}
// Tutorial Part 2 without the Publisher object
private void SetupRos()
{
if (generateRosMessages)
{
// Generate ROS messages
MessageAutoGen.GenerateSingleMessage(
Path.Combine(rosSrcDirectory, moveitMsgPackageName, msgDirectory, robotTrajectoryMessageFileName),
rosMessagesDirectory, moveitMsgPackageName);
MessageAutoGen.GenerateDirectoryMessages(
Path.Combine(rosSrcDirectory, niryoMoveitPackageName, msgDirectory),
rosMessagesDirectory);
// Generate ROS services
ServiceAutoGen.GenerateSingleService(
Path.Combine(rosSrcDirectory, niryoMoveitPackageName, srvDirectory, moverServiceFileName),
rosMessagesDirectory, niryoMoveitPackageName);
}
// Recompile ROS message scripts and external scripts
List <string> scripts = new List <string>();
scripts.AddRange(Directory.GetFiles(rosMessagesDirectory, scriptPattern, SearchOption.AllDirectories));
scripts.AddRange(Directory.GetFiles(externalScriptsDirectory));
RecompileScripts(scripts.ToArray());
// Create RosConnect
GameObject rosConnect = new GameObject(rosConnectName);
rosConnection = rosConnect.AddComponent <ROSConnection>();
rosConnection.rosIPAddress = hostIP;
rosConnection.rosPort = hostPort;
rosConnection.overrideUnityIP = overrideUnityIP;
rosConnection.unityPort = unityPort;
rosConnection.awaitDataMaxRetries = awaitDataMaxRetries;
rosConnection.awaitDataSleepSeconds = awaitDataSleepSeconds;
}
public void TestMessageBuildDirectory_ThrowsNoExceptions(string directoryToBuild)
{
MessageAutoGen.GenerateDirectoryMessages(directoryToBuild, m_MessageGenOutputPath);
AssetDatabase.Refresh();
}
public void TestMessageBuildSingle_ThrowsNoExceptions(string messageToBuild)
{
MessageAutoGen.GenerateSingleMessage(messageToBuild, m_MessageGenOutputPath);
AssetDatabase.Refresh();
}
void ShowCachedEntry(CachedEntry entry)
{
if (entry.status == CachedEntryStatus.Ignored)
{
return;
}
else if (entry.status != CachedEntryStatus.Folder)
{
EditorGUILayout.BeginHorizontal();
EditorGUILayout.LabelField(entry.label);
if (entry.hasBuildButton && GUILayout.Button(entry.buildLabel, GUILayout.Width(BUTTON_WIDTH)))
{
// build this msg, srv, or action file
switch (entry.status)
{
case CachedEntryStatus.BuiltMsgFile:
case CachedEntryStatus.UnbuiltMsgFile:
MessageAutoGen.GenerateSingleMessage(entry.path, MessageGenBrowserSettings.Get().outputPath);
break;
case CachedEntryStatus.BuiltSrvFile:
case CachedEntryStatus.UnbuiltSrvFile:
ServiceAutoGen.GenerateSingleService(entry.path, MessageGenBrowserSettings.Get().outputPath);
break;
case CachedEntryStatus.BuiltActionFile:
case CachedEntryStatus.UnbuiltActionFile:
ActionAutoGen.GenerateSingleAction(entry.path, MessageGenBrowserSettings.Get().outputPath);
break;
}
AssetDatabase.Refresh();
m_IsCacheDirty = true;
}
EditorGUILayout.EndHorizontal();
}
else
{
bool isFoldedOut = m_FoldedOutHash.Contains(entry.path);
EditorGUILayout.BeginHorizontal();
bool shouldBeFoldedOut = EditorGUILayout.Foldout(isFoldedOut, entry.label, true, EditorStyles.foldout);
if (entry.hasBuildButton && GUILayout.Button(entry.buildLabel, GUILayout.Width(BUTTON_WIDTH)))
{
// build this directory
MessageAutoGen.GenerateDirectoryMessages(entry.path, MessageGenBrowserSettings.Get().outputPath);
ServiceAutoGen.GenerateDirectoryServices(entry.path, MessageGenBrowserSettings.Get().outputPath);
ActionAutoGen.GenerateDirectoryActions(entry.path, MessageGenBrowserSettings.Get().outputPath);
AssetDatabase.Refresh();
m_IsCacheDirty = true;
}
EditorGUILayout.EndHorizontal();
if (isFoldedOut)
{
EditorGUI.indentLevel++;
foreach (CachedEntry subEntry in entry.contents)
{
ShowCachedEntry(subEntry);
}
EditorGUI.indentLevel--;
}
if (shouldBeFoldedOut != isFoldedOut)
{
m_IsCacheDirty = true;
if (shouldBeFoldedOut)
{
m_FoldedOutHash.Add(entry.path);
}
else
{
m_FoldedOutHash.Remove(entry.path);
}
}
}
}
private void OnGUI()
{
GUILayout.Label("Package messages auto generation", EditorStyles.boldLabel);
EditorGUILayout.BeginHorizontal();
inPkgPath = EditorGUILayout.TextField("Input Package Path", inPkgPath);
if (GUILayout.Button("Browse Package...", GUILayout.Width(150)))
{
inPkgPath = EditorUtility.OpenFolderPanel("Select Package...", "", "");
if (!inPkgPath.Equals(""))
{
rosPackageName = inPkgPath.Split('/').Last();
}
}
EditorGUILayout.EndHorizontal();
rosPackageName = EditorGUILayout.TextField("ROS Package Name:", rosPackageName);
EditorGUILayout.BeginHorizontal();
outPkgPath = EditorGUILayout.TextField("Output Location", outPkgPath);
if (GUILayout.Button("Select Folder...", GUILayout.Width(150)))
{
outPkgPath = EditorUtility.OpenFolderPanel("Select Folder...", "", "");
}
EditorGUILayout.EndHorizontal();
if (GUILayout.Button("GENERATE!"))
{
if (inPkgPath.Equals(""))
{
EditorUtility.DisplayDialog(
title: "Error",
message: "Empty input package path!\nPlease specify input package",
ok: "Bricks without straw");
}
else
{
try {
string[] files = Directory.GetFiles(Path.Combine(inPkgPath, "msg"), "*.msg");
if (files.Length == 0)
{
EditorUtility.DisplayDialog(
title: "No message files found!",
message: "No message files found!",
ok: "Bricks without straw");
Reset();
}
else
{
// Keep a list of warnings
List <string> warnings = new List <string>();
for (int i = 0; i < files.Length; i++)
{
string file = files[i];
EditorUtility.DisplayProgressBar(
"Working...(" + (i + 1) + "/" + files.Length + ")",
"Parsing " + file,
(float)(i + 1) / (float)files.Length);
try
{
warnings.AddRange(MessageAutoGen.GenerateSingleMessage(file, outPkgPath, rosPackageName));
}
catch (MessageTokenizerException e)
{
Debug.LogError(e.ToString() + e.Message);
EditorUtility.DisplayDialog(
title: "Message Tokenizer Exception",
message: e.Message,
ok: "Wait. That's illegal");
}
catch (MessageParserException e)
{
Debug.LogError(e.ToString() + e.Message);
EditorUtility.DisplayDialog(
title: "Message Parser Exception",
message: e.Message,
ok: "Sorry but you can't ignore errors.");
}
}
// Done
EditorUtility.ClearProgressBar();
if (warnings.Count > 0)
{
EditorUtility.DisplayDialog(
title: "Code Generation Complete",
message: "Output at: " + outPkgPath + "\nYou have " + warnings.Count + " warning(s)",
ok: "I like to live dangerously");
foreach (string w in warnings)
{
Debug.LogWarning(w);
}
}
else
{
EditorUtility.DisplayDialog(
title: "Code Generation Complete",
message: "Output at: " + outPkgPath,
ok: "Thank you!");
}
Reset();
}
}
catch (DirectoryNotFoundException e) {
EditorUtility.DisplayDialog(
title: "Message Folder not found",
message: e.Message,
ok: "Bricks without straw");
Reset();
}
}
}
}
public static void Main(string[] args)
{
// Arguments
string inputPath = "";
bool verbose = false;
bool service = false;
bool action = false;
bool recursive = false;
bool package = false;
string rosPackageName = "";
string outputPath = defaultOutputDirectory;
// Parse Arguments
if (args.Length == 0)
{
Console.WriteLine("No argument: Display usage");
Console.WriteLine(usage);
return;
}
if (args[0].Equals("--help") || args[0].Equals("-h"))
{
Console.WriteLine("Help: Displays usage");
Console.WriteLine(usage);
return;
}
for (int i = 0; i < args.Length; i++)
{
string arg = args[i];
if (arg.Equals("-s") || arg.Equals("--service"))
{
if (action)
{
Console.Error.WriteLine("Option '--service' conflict with '--action'.");
if (verbose)
{
Console.Error.WriteLine("Make up your mind!");
}
return;
}
service = true;
if (verbose)
{
Console.WriteLine("'--service' flag seen. Expecting *.srv input");
}
continue;
}
if (arg.Equals("-a") || arg.Equals("--action"))
{
if (service)
{
Console.Error.WriteLine("Option '--action' conflict with '--service'.");
if (verbose)
{
Console.Error.WriteLine("Make up your mind!");
}
return;
}
action = true;
if (verbose)
{
Console.WriteLine("'--action' flag seen. Expecting *.action input");
}
continue;
}
if (arg.Equals("-r") || arg.Equals("--recursive"))
{
if (package)
{
Console.Error.WriteLine("Option '--recursive' conflict with '--package'.");
if (verbose)
{
Console.Error.WriteLine("Make up your mind!");
}
return;
}
if (recursive)
{
Console.WriteLine("Duplicate flag '--recursive'.");
if (verbose)
{
Console.Error.WriteLine("I got it already!");
}
}
if (!rosPackageName.Equals(""))
{
Console.WriteLine("'--recursive' option enabled, ignoring ROS package name");
}
recursive = true;
continue;
}
if (arg.Equals("-p") || arg.Equals("--package"))
{
if (recursive)
{
Console.Error.WriteLine("Option '--package' conflict with '--recursive'.");
if (verbose)
{
Console.Error.WriteLine("Make up your mind!");
}
return;
}
if (package)
{
Console.WriteLine("Duplicate flag '--package'.");
if (verbose)
{
Console.Error.WriteLine("I got it already!");
}
}
package = true;
continue;
}
if (arg.Equals("-n") || arg.Equals("--ros-package-name"))
{
if (i == args.Length - 1)
{
Console.Error.WriteLine("Missing ROS package name. Will get name from path");
}
else if (validOptions.Contains(args[i + 1]))
{
Console.Error.WriteLine("Missing ROS package name. Will get name from path");
}
else if (recursive)
{
Console.WriteLine("'--recursive' option enabled, ignoring ROS package name");
}
else
{
rosPackageName = args[i + 1];
i++;
}
continue;
}
if (arg.Equals("-o") || arg.Equals("--output"))
{
if (i == args.Length - 1)
{
Console.Error.WriteLine("Missing output path. Using default output path.");
}
else if (validOptions.Contains(args[i + 1]))
{
Console.Error.WriteLine("Missing output path. Using default output path.");
}
else
{
outputPath = args[i + 1];
outputPath = Path.Combine(outputPath, "RosSharpMessages");
i++;
}
continue;
}
if (arg.Equals("-v") || arg.Equals("--verbose"))
{
Console.WriteLine("Verbose flag detected. Warning: A huge wave of text incoming!");
verbose = true;
continue;
}
if (inputPath.Equals(""))
{
inputPath = arg;
}
else
{
Console.Error.WriteLine("Ignored invalid argument: " + arg);
if (verbose)
{
Console.Error.WriteLine("Mumble mumble. Run 'RosMsgGen.exe -h' or 'RosMsgGen.exe --help' to see usage");
}
}
}
// Do work
// Parse Individual Messages
if (!package && !recursive)
{
if (inputPath.Equals(""))
{
Console.Error.WriteLine("Please specify input file");
if (verbose)
{
Console.Error.WriteLine("Bricks without straw");
}
return;
}
if (!IsValidPath(inputPath, false))
{
if (IsValidPath(inputPath, true))
{
Console.Error.WriteLine("Input path is a directory. Please use --package or --recursive option");
}
else
{
Console.Error.WriteLine("Invalid input path");
}
return;
}
List <string> warnings;
if (service)
{
warnings = ServiceAutoGen.GenerateSingleService(inputPath, outputPath, rosPackageName, verbose);
}
else if (action)
{
warnings = ActionAutoGen.GenerateSingleAction(inputPath, outputPath, rosPackageName, verbose);
}
else
{
warnings = MessageAutoGen.GenerateSingleMessage(inputPath, outputPath, rosPackageName, verbose);
}
PrintWarnings(warnings);
return;
}
// Parse Package Messages
if (package)
{
if (inputPath.Equals(""))
{
Console.Error.WriteLine("Please specify input package");
if (verbose)
{
Console.Error.WriteLine("Bricks without straw");
}
return;
}
if (!IsValidPath(inputPath, true))
{
if (IsValidPath(inputPath, false))
{
Console.Error.WriteLine("Input path is a file. Please drop --package option");
}
else
{
Console.Error.WriteLine("Invalid input path");
}
return;
}
try
{
Console.WriteLine("Working...");
List <string> warnings;
if (service)
{
warnings = ServiceAutoGen.GeneratePackageServices(inputPath, outputPath, rosPackageName, verbose);
}
else if (action)
{
warnings = ActionAutoGen.GeneratePackageActions(inputPath, outputPath, rosPackageName, verbose);
}
else
{
warnings = MessageAutoGen.GeneratePackageMessages(inputPath, outputPath, rosPackageName, verbose);
}
PrintWarnings(warnings);
}
catch (DirectoryNotFoundException) {
if (service)
{
Console.Error.WriteLine("Didn't find service folder in given package");
}
else
{
Console.Error.WriteLine("Didn't find message folder in given package");
}
if (verbose)
{
Console.Error.WriteLine("Bricks without straw");
}
}
return;
}
// Parse Directory Message
if (recursive)
{
if (inputPath.Equals(""))
{
Console.Error.WriteLine("Please specify input directory");
if (verbose)
{
Console.Error.WriteLine("Bricks without straw");
}
return;
}
if (!IsValidPath(inputPath, true))
{
if (IsValidPath(inputPath, false))
{
Console.Error.WriteLine("Input path is a file. Consider as base case");
// Parse Single Message
List <string> singleMsgWarnings;
if (service)
{
singleMsgWarnings = ServiceAutoGen.GenerateSingleService(inputPath, outputPath, rosPackageName, verbose);
}
else if (action)
{
singleMsgWarnings = ActionAutoGen.GenerateSingleAction(inputPath, outputPath, rosPackageName, verbose);
}
else
{
singleMsgWarnings = MessageAutoGen.GenerateSingleMessage(inputPath, outputPath, rosPackageName, verbose);
}
PrintWarnings(singleMsgWarnings);
}
else
{
Console.Error.WriteLine("Invalid input path");
}
return;
}
Console.WriteLine("Working...Checkout xkcd.com/303");
List <string> warnings;
if (service)
{
warnings = ServiceAutoGen.GenerateDirectoryServices(inputPath, outputPath, verbose);
}
else if (action)
{
warnings = ActionAutoGen.GenerateDirectoryActions(inputPath, outputPath, verbose);
}
else
{
warnings = MessageAutoGen.GenerateDirectoryMessages(inputPath, outputPath, verbose);
}
PrintWarnings(warnings);
return;
}
// Otherwise I don't know...
Console.Error.WriteLine("Unrecognized combination of arguments.");
if (verbose)
{
Console.WriteLine("Mumble Mumble. Run 'RosMsgGen.exe -h' or 'RosMsgGen.exe --help' to see usage");
}
}
protected override List <string> Generate(string inPath, string outPath, string rosPackageName = "")
{
return(MessageAutoGen.GenerateSingleMessage(inPath, outPath, rosPackageName));
}