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];
// Parse and generate goal, result, feedback messages
MessageParser parser = new MessageParser(tokens, outPath, rosPackageName, "action", MsgAutoGenUtilities.builtInTypesMapping, MsgAutoGenUtilities.builtInTypesDefaultInitialValues, MsgAutoGenUtilities.numericTypeDeserializationFunctions, MsgAutoGenUtilities.numericTypeByteSize, className);
parser.Parse();
warnings.AddRange(parser.GetWarnings());
// Generate action section wrapper messages
actionWrapper.WrapActionSections(types[i]);
}
// Generate action wrapper
actionWrapper.WrapAction();
return(warnings);
}
public static List <string> GenerateSingleService(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 != 2)
{
throw new MessageParserException("Unexpected number of sections. Service should have 2 sections.");
}
List <string> warnings = new List <string>();
for (int i = 0; i < listsOfTokens.Count; i++)
{
List <MessageToken> tokens = listsOfTokens[i];
// Service is made up of request and response
string className = inFileName + MsgAutoGenUtilities.ServiceClassSuffix + types[i];
MessageParser parser = new MessageParser(
tokens,
outPath,
rosPackageName,
"srv",
MsgAutoGenUtilities.builtInTypesMapping,
MsgAutoGenUtilities.builtInTypesDefaultInitialValues,
className,
subtopic: i == 0 ? MessageSubtopic.Default : MessageSubtopic.Response);
parser.Parse();
warnings.AddRange(parser.GetWarnings());
}
return(warnings);
}
public static List <string> GenerateSingleMessage(string inPath, string outPath, string rosPackageName = "", bool verbose = false)
{
// If no ROS package name is provided, extract from path
if (rosPackageName == "")
{
rosPackageName = GetRosPackageName(inPath);
}
outPath = GetMessageOutFolder(outPath, rosPackageName);
string inFileName = Path.GetFileNameWithoutExtension(inPath);
if (MsgAutoGenUtilities.HasHandwrittenMessage(rosPackageName, inFileName))
{
// don't generate! we have a handwritten message for this one
if (verbose)
{
Console.WriteLine(inFileName + " will not be generated");
}
return(new List <string>());
}
else
{
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> > listOfTokens = tokenizer.Tokenize();
if (listOfTokens.Count != 1)
{
throw new MessageParserException("Unexpected number of sections. Simple message should have 1 section.");
}
MessageParser parser = new MessageParser(listOfTokens[0], outPath, rosPackageName, "msg", MsgAutoGenUtilities.builtInTypesMapping, MsgAutoGenUtilities.builtInTypesDefaultInitialValues);
parser.Parse();
return(parser.GetWarnings());
}
}
