public static ClassInfo[]? GenerateFor(string package, string path)
{
string[] lines = File.ReadAllLines(path);
string actionName = Path.GetFileNameWithoutExtension(path);
List <IElement> elements = MsgParser.ParseFile(lines, actionName);
List <int> separatorIndices = new List <int>();
for (int i = 0; i < elements.Count; i++)
{
if (elements[i].Type == ElementType.ServiceSeparator)
{
separatorIndices.Add(i);
}
}
if (separatorIndices.Count != 2)
{
Console.WriteLine("EE Action for file '" + path + "' does not have the expected two --- separators");
return(null);
}
List <IElement> goalElements = elements.GetRange(0, separatorIndices[0]);
List <IElement> resultElements =
elements.GetRange(separatorIndices[0] + 1, separatorIndices[1] - separatorIndices[0] - 1);
List <IElement> feedbackElements =
elements.GetRange(separatorIndices[1] + 1, elements.Count - separatorIndices[1] - 1);
ClassInfo goalInfo = new ClassInfo(package, $"{actionName}Goal", goalElements, actionName,
ActionMessageType.Goal);
ClassInfo resultInfo = new ClassInfo(package, $"{actionName}Result", resultElements, actionName,
ActionMessageType.Result);
ClassInfo feedbackInfo = new ClassInfo(package, $"{actionName}Feedback", feedbackElements, actionName,
ActionMessageType.Feedback);
IElement[] actionGoalElements =
{
new VariableElement("", "Header", "header", serializeAsProperty: true),
new VariableElement("", "actionlib_msgs/GoalID", "goal_id", serializeAsProperty: true),
new VariableElement("", $"{actionName}Goal", "goal", null, goalInfo,serializeAsProperty: true),
};
ClassInfo actionGoalInfo = new ClassInfo(package, $"{actionName}ActionGoal", actionGoalElements, actionName,
ActionMessageType.ActionGoal);
IElement[] actionResultElements =
{
new VariableElement("", "Header", "header", serializeAsProperty: true),
new VariableElement("", "actionlib_msgs/GoalStatus", "status", serializeAsProperty: true),
new VariableElement("", $"{actionName}Result", "result", null, resultInfo,serializeAsProperty: true),
};
ClassInfo actionResultInfo = new ClassInfo(package, $"{actionName}ActionResult", actionResultElements,
actionName, ActionMessageType.ActionResult);
IElement[] actionFeedbackElements =
{
new VariableElement("", "Header", "header", serializeAsProperty: true),
new VariableElement("", "actionlib_msgs/GoalStatus", "status", serializeAsProperty: true),
new VariableElement("", $"{actionName}Feedback", "feedback", null, feedbackInfo,
serializeAsProperty: true),
};
ClassInfo actionFeedbackInfo = new ClassInfo(package, $"{actionName}ActionFeedback", actionFeedbackElements,
actionName, ActionMessageType.ActionFeedback);
IElement[] actionElements =
{
new VariableElement("", $"{actionName}ActionGoal", "action_goal", serializeAsProperty: true),
new VariableElement("", $"{actionName}ActionResult", "action_result", serializeAsProperty: true),
new VariableElement("", $"{actionName}ActionFeedback", "action_feedback", serializeAsProperty: true),
};
ClassInfo actionInfo = new ClassInfo(package, $"{actionName}Action", actionElements, actionName,
ActionMessageType.Action);
return(new[]
{
goalInfo, feedbackInfo, resultInfo,
actionGoalInfo, actionFeedbackInfo, actionResultInfo,
actionInfo
});
}