private static void Run(List <string> messageDirs, List <string> assemblies = null, string outputdir = null, bool interactive = false, string configuration = "Debug", string projectName = "Messages")
{
var loggerFactory = new LoggerFactory();
loggerFactory.AddProvider(
new ConsoleLoggerProvider(
(string text, LogLevel logLevel) => { return(logLevel >= LogLevel.Debug); }, true)
);
ApplicationLogging.LoggerFactory = loggerFactory;
Logger = ApplicationLogging.CreateLogger("Program");
string yamlparser_parent = "";
DirectoryInfo di = new DirectoryInfo(Directory.GetCurrentDirectory());
while (di != null && di.Name != "YAMLParser")
{
di = Directory.GetParent(di.FullName);
}
if (di == null)
{
throw new InvalidOperationException("Not started from within YAMLParser directory.");
}
di = Directory.GetParent(di.FullName);
yamlparser_parent = di.FullName;
if (outputdir == null)
{
outputdir = yamlparser_parent;
outputdir = Path.Combine(outputdir, DEFAULT_OUTPUT_FOLDERNAME);
}
Templates.LoadTemplateStrings(Path.Combine(yamlparser_parent, "YAMLParser", "TemplateProject"));
MessageTypeRegistry.Default.ParseAssemblyAndRegisterRosMessages(MessageTypeRegistry.Default.GetType().GetTypeInfo().Assembly);
if (assemblies != null)
{
string hints = "";
foreach (var assembly in assemblies)
{
var rosNetMessages = Assembly.LoadFile(Path.GetFullPath(assembly));
MessageTypeRegistry.Default.ParseAssemblyAndRegisterRosMessages(rosNetMessages);
hints += $@"
<ItemGroup>
<Reference Include=""Messages"">
<HintPath>{assembly}</HintPath>
</Reference>
</ItemGroup>
";
}
Templates.MessagesProj = Templates.MessagesProj.Replace("$$HINTS$$", hints);
}
else
{
Templates.MessagesProj = Templates.MessagesProj.Replace("$$HINTS$$", "");
}
var paths = new List <MsgFileLocation>();
var pathssrv = new List <MsgFileLocation>();
var actionFileLocations = new List <MsgFileLocation>();
Console.WriteLine("Generatinc C# classes for ROS Messages...\n");
foreach (var messageDir in messageDirs)
{
string d = new DirectoryInfo(Path.GetFullPath(messageDir)).FullName;
Console.WriteLine("Looking in " + d);
MsgFileLocator.findMessages(paths, pathssrv, actionFileLocations, d);
}
// sort paths by priority
paths = MsgFileLocator.sortMessages(paths);
// first pass: create all msg files (and register them in static resolver dictionary)
var baseTypes = MessageTypeRegistry.Default.GetTypeNames().ToList();
foreach (MsgFileLocation path in paths)
{
var typeName = $"{path.package}/{path.basename}";
if (baseTypes.Contains(typeName))
{
Logger.LogInformation($"Skip file {path} because MessageBase already contains this message");
}
else
{
msgsFiles.Add(new MsgFile(path));
}
}
Logger.LogDebug($"Added {msgsFiles.Count} message files");
foreach (MsgFileLocation path in pathssrv)
{
srvFiles.Add(new SrvFile(path));
}
// secend pass: parse and resolve types
foreach (var msg in msgsFiles)
{
msg.ParseAndResolveTypes();
}
foreach (var srv in srvFiles)
{
srv.ParseAndResolveTypes();
}
var actionFileParser = new ActionFileParser(actionFileLocations);
actionFiles = actionFileParser.GenerateRosMessageClasses();
//var actionFiles = new List<ActionFile>();
if (!StdMsgsProcessed()) // may seem obvious, but needed so that all other messages can build...
{
string resolvedPkgs = String.Join(", ", MsgFile.resolver.Keys.OrderBy(x => x.ToString()).ToArray());
Console.WriteLine("Missing at least one of the following ROS packages: [\"" + String.Join("\", \"", required_packages) + "\"]. Exiting...");
Console.WriteLine("resolver's keys: [" + resolvedPkgs + "]");
return;
}
if (paths.Count + pathssrv.Count > 0)
{
MakeTempDir(outputdir);
GenerateFiles(msgsFiles, srvFiles, actionFiles, outputdir);
GenerateProject(msgsFiles, srvFiles, projectName, outputdir);
BuildProject(configuration, projectName, outputdir);
}
else
{
Console.WriteLine("Usage: YAMLParser.exe <SolutionFolder> [... other directories to search]\n The Messages dll will be output to <SolutionFolder>/Messages/Messages.dll");
if (interactive)
{
Console.ReadLine();
}
Environment.Exit(1);
}
if (interactive)
{
Console.WriteLine("Finished. Press enter.");
Console.ReadLine();
}
}
private static string configuration = "Debug"; //Debug, Release, etc.
private static void Main(string[] args)
{
MessageTypeRegistry.Default.ParseAssemblyAndRegisterRosMessages(MessageTypeRegistry.Default.GetType().GetTypeInfo().Assembly);
/*System.Console.WriteLine($"Process ID: {System.Diagnostics.Process.GetCurrentProcess().Id}");
* while (!System.Diagnostics.Debugger.IsAttached)
* {
* System.Threading.Thread.Sleep(1);
* }*/
List <string> exclusionFilters = new List <string>();
List <string> sources = new List <string>();
bool interactive = false; //wait for ENTER press when complete
int firstarg = 0;
if (args.Length >= 1)
{
Dictionary <string, List <string> > arguments = ParseArguments(args);
foreach (KeyValuePair <string, List <string> > data in arguments)
{
if (data.Key.Trim().Equals("-i"))
{
interactive = true;
}
else if (data.Key.Trim().Equals("-c"))
{
if (data.Value.Count > 0)
{
configuration = data.Value[0];
}
else
{
configuration = "Debug";
}
}
else if (data.Key.Trim().Equals("-e"))
{
exclusionFilters.InsertRange(0, data.Value);
}
else if (data.Key.Trim().Equals("-s"))
{
sources.InsertRange(0, data.Value);
}
}
}
string yamlparser_parent = "";
DirectoryInfo di = new DirectoryInfo(Directory.GetCurrentDirectory());
while (di != null && di.Name != "YAMLParser")
{
di = Directory.GetParent(di.FullName);
}
if (di == null)
{
throw new InvalidOperationException("Not started from within YAMLParser directory.");
}
di = Directory.GetParent(di.FullName);
yamlparser_parent = di.FullName;
if (sources.Count >= 1)
{
solutiondir = new DirectoryInfo(sources[0]).FullName;
}
else
{
solutiondir = yamlparser_parent;
}
Templates.LoadTemplateStrings(Path.Combine(yamlparser_parent, "YAMLParser", "TemplateProject"));
outputdir = Path.Combine(yamlparser_parent, outputdir);
var paths = new List <MsgFileLocation>();
var pathssrv = new List <MsgFileLocation>();
var actionFileLocations = new List <MsgFileLocation>();
Console.WriteLine("Generating C# classes for ROS Messages...\n");
foreach (string source in sources)
{
string d = new DirectoryInfo(Path.GetFullPath(source)).FullName;
Console.WriteLine($"Looking in {d}");
MsgFileLocator.findMessages(paths, pathssrv, actionFileLocations, exclusionFilters, d);
}
// first pass: create all msg files (and register them in static resolver dictionary)
var baseTypes = MessageTypeRegistry.Default.GetTypeNames().ToList();
foreach (MsgFileLocation path in paths)
{
var typeName = $"{path.package}/{path.basename}";
if (baseTypes.Contains(typeName))
{
Console.WriteLine($"Skip file {path} because MessageBase already contains this message");
}
else
{
msgsFiles.Add(new MsgFile(path));
}
}
Debug.WriteLine($"Added {msgsFiles.Count} message files");
foreach (MsgFileLocation path in pathssrv)
{
srvFiles.Add(new SrvFile(path));
}
// secend pass: parse and resolve types
foreach (var msg in msgsFiles)
{
msg.ParseAndResolveTypes();
}
foreach (var srv in srvFiles)
{
srv.ParseAndResolveTypes();
}
var actionFileParser = new ActionFileParser(actionFileLocations);
actionFiles = actionFileParser.GenerateRosMessageClasses();
//var actionFiles = new List<ActionFile>();
if (paths.Count + pathssrv.Count > 0)
{
MakeTempDir();
GenerateFiles(msgsFiles, srvFiles, actionFiles);
GenerateProject(msgsFiles, srvFiles, actionFiles);
BuildProject();
}
else
{
Console.WriteLine("Usage: YAMLParser.exe <SolutionFolder> [... other directories to search]\n The Messages dll will be output to <SolutionFolder>/Messages/Messages.dll");
if (interactive)
{
Console.ReadLine();
}
Environment.Exit(1);
}
if (interactive)
{
Console.WriteLine("Finished. Press enter.");
Console.ReadLine();
}
}
private static void Run(List <string> messageDirs, List <string> assemblies, IEnumerable <string> nugetPackages, string projectDir, bool interactive, string configuration, string projectName, string outputVersion)
{
InitializeLogger();
var programRootDir = GetYamlParserDirectory();
var tempDir = Path.Combine(Directory.GetParent(programRootDir.FullName).FullName, "Temp");
if (projectDir == null)
{
projectDir = Path.Combine(tempDir, projectName);
}
Templates.LoadTemplateStrings(Path.Combine(programRootDir.FullName, "TemplateProject"));
SetProjectVersion(outputVersion);
BuildExternalProjectReferences(assemblies, nugetPackages, projectName, programRootDir, tempDir);
using (new AssemblyResolver(externalMessageAssemblies, AppDomain.CurrentDomain))
{
RegisterExternalMessageAssemblies();
var paths = new List <MsgFileLocation>();
var pathssrv = new List <MsgFileLocation>();
var actionFileLocations = new List <MsgFileLocation>();
Console.WriteLine("Generatinc C# classes for ROS Messages...\n");
foreach (var messageDir in messageDirs)
{
string d = new DirectoryInfo(Path.GetFullPath(messageDir)).FullName;
Console.WriteLine("Looking in " + d);
MsgFileLocator.findMessages(paths, pathssrv, actionFileLocations, d);
}
// first pass: create all msg files (and register them in static resolver dictionary)
var baseTypes = MessageTypeRegistry.Default.GetTypeNames().ToList();
foreach (MsgFileLocation path in paths)
{
var typeName = $"{path.package}/{path.basename}";
if (baseTypes.Contains(typeName))
{
Logger.LogInformation($"Skip file {path} because MessageBase already contains this message");
}
else
{
msgsFiles.Add(new MsgFile(path));
}
}
Logger.LogDebug($"Added {msgsFiles.Count} message files");
foreach (MsgFileLocation path in pathssrv)
{
srvFiles.Add(new SrvFile(path));
}
// second pass: parse and resolve types
foreach (var msg in msgsFiles)
{
msg.ParseAndResolveTypes();
}
foreach (var srv in srvFiles)
{
srv.ParseAndResolveTypes();
}
var actionFileParser = new ActionFileParser(actionFileLocations);
actionFiles = actionFileParser.GenerateRosMessageClasses();
if (paths.Count + pathssrv.Count + actionFiles.Count > 0)
{
CreateProjectDir(projectDir);
GenerateFiles(msgsFiles, srvFiles, actionFiles, projectDir);
GenerateProject(msgsFiles, srvFiles, projectName, projectDir);
BuildProject(configuration, projectName, projectDir);
}
else
{
Console.WriteLine(
"Usage: YAMLParser.exe <SolutionFolder> [... other directories to search]\n The Messages dll will be output to <SolutionFolder>/Messages/Messages.dll");
if (interactive)
{
Console.ReadLine();
}
Environment.Exit(1);
}
if (interactive)
{
Console.WriteLine("Finished. Press enter.");
Console.ReadLine();
}
}
}
