static void Main(string[] args)
{
if( args.Length < 1 )
{
Console.WriteLine("Usage GenerateCode.exe <packageName>");
return;
}
// This is the code for the base process
Process myProcess = new Process();
// Start a new instance of this program but specify the 'spawned' version.
ProcessStartInfo myProcessStartInfo = new ProcessStartInfo("rospack", "spawn");
myProcessStartInfo.UseShellExecute = false;
myProcessStartInfo.RedirectStandardOutput = true;
myProcess.StartInfo = myProcessStartInfo;
myProcess.StartInfo.Arguments = "find " + args[0];
myProcess.Start();
StreamReader myStreamReader = myProcess.StandardOutput;
// Read the standard output of the spawned process.
outputPath = myStreamReader.ReadLine();
myProcess.WaitForExit();
myProcess.Close();
string templateDir = TemplateDir();
if(!Directory.Exists(templateDir)) {
Console.Error.WriteLine("Cannot find template directory: "+templateDir);
return;
}
if(args[0].Contains("/")) {
int idx = args[0].LastIndexOf('/');
basePackageName = args[0].Substring(idx+1);
} else {
basePackageName = args[0];
}
if( String.IsNullOrEmpty(outputPath))
{
Console.WriteLine("Cannot find package name!");
return;
}
outputPath += "/msg_cs_gen";
//set namespace to packageName
namespaceS = args[0];
Console.WriteLine("Querying Ros for messages...");
List<Message> directMessages = MessagesOfPackage(args[0]);
for (int i=1; i<args.Length; i++) {
if (args[i].EndsWith("/*")) {
directMessages.AddRange(MessagesOfPackage(args[i].Substring(0,args[i].Length-2)));
}
else {
directMessages.Add(new Message(args[i]));
}
}
Dictionary<string,Message> allMessages = new Dictionary<string, Message>();
foreach(Message m in directMessages) {
allMessages.Add(m.FullName,m);
}
List<Message> todo = directMessages;
do {
List<string> addMessages = new List<string>();
foreach(Message m in todo) {
List<string> reqmessage = m.RequiredMessages();
addMessages.AddRange(reqmessage);
}
todo.Clear();
foreach(string nmsg in addMessages) {
if (!allMessages.ContainsKey(nmsg)) {
Message nmessage = new Message(nmsg);
allMessages.Add(nmsg,nmessage);
todo.Add(nmessage);
}
}
} while(todo.Count > 0);
foreach(Message m in allMessages.Values) {
m.SetReferences(allMessages);
}
Console.WriteLine("Start generating...");
Console.WriteLine("Path for generating files : " + outputPath + "!");
Console.WriteLine("Total msges: {0}",allMessages.Count);
//clean autogen before generating
//Console.WriteLine(pwd);
if( Directory.Exists(outputPath) )
{
Console.WriteLine("Cleaning before...");
Directory.Delete(outputPath,true);
}
msgList = new List<Message>(allMessages.Values);
CheckForHashCollisions(msgList);
Directory.CreateDirectory(outputPath);
Directory.CreateDirectory(outputPath+"/cpp");
Directory.CreateDirectory(outputPath+"/csharp");
CreateCppCode(outputPath+"/cpp");
ProcessTemplates(templateDir,outputPath);
CreateCSMessages(outputPath+"/csharp");
}
public static string ProcessTemplate(string t,Message m)
{
curMessage = m;
Regex markers = new Regex(@"<\?([^\?]*)\?>");
return markers.Replace(t,new MatchEvaluator(MatchReplacer));
}