public static List<string> GenerateSingleAction(string inPath, string outPath, string rosPackageName = "", bool verbose = false)
{
// If no ROS package name is provided, extract from path
if (rosPackageName.Equals(""))
{
string[] hierarchy = inPath.Split(new char[] { '/', '\\' });
rosPackageName = hierarchy[hierarchy.Length - 3];
}
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 != 3)
{
throw new MessageParserException("Unexpected number of sections. Action should have 3 sections.");
}
List<string> warnings = new List<string>();
ActionWrapper actionWrapper = new ActionWrapper(inPath, rosPackageName, outPath);
for (int i = 0; i < listsOfTokens.Count; i++)
{
List<MessageToken> tokens = listsOfTokens[i];
// Action is made up of goal, result, feedback
string className = inFileName + types[i] + MsgAutoGenUtilities.ActionClassSuffix;
// Parse and generate goal, result, feedback messages
MessageParser parser = new MessageParser(
tokens,
outPath,
rosPackageName,
"action",
MsgAutoGenUtilities.builtInTypesMapping,
MsgAutoGenUtilities.builtInTypesDefaultInitialValues,
className,
subtopic: subtopics[i]
);
parser.Parse();
warnings.AddRange(parser.GetWarnings());
// Generate action section wrapper messages
actionWrapper.WrapActionSections(types[i]);
}
// Generate action wrapper
actionWrapper.WrapAction();
return warnings;
}
