Add MessageGeneration from ros-sharp

MessageGeneration/ActionCodeGenerator.cs

@@ -1,4 +1,6 @@
 using System.Text;
+using Microsoft.Extensions.Logging;
+using static RosNet.MessageGeneration.Utilities;
 
 namespace RosNet.MessageGeneration;
 
@@ -8,21 +10,22 @@ public class ActionCodeGenerator : CodeGenerator
     public static new readonly string FileExtension = ".action";
     public static new readonly string FileName = "action";
 
-    protected override List<string> GenerateSingle(string inPath, string outPath, string? rosPackageName, bool? verbose = false)
+    public ActionCodeGenerator(ILogger<ActionCodeGenerator> logger) : base(logger)
+    {
+    }
+
+    protected override List<string> GenerateSingle(string inPath, string? outPath, string? rosPackageName)
     {
-        verbose ??= false;
         // If no ROS package name is provided, extract from path
-        rosPackageName ??= inPath.Split(Path.PathSeparator)[^3];
+        rosPackageName ??= inPath.Split(Path.DirectorySeparatorChar)[^3];
 
-        outPath = Path.Combine(outPath, Utilities.ResolvePackageName(rosPackageName));
+        outPath = Path.Combine(outPath ?? "", Utilities.ResolvePackageName(rosPackageName));
 
         var inFileName = Path.GetFileNameWithoutExtension(inPath);
 
-        if ((bool)verbose)
-        {
-            Console.WriteLine("Parsing: " + inPath);
-            Console.WriteLine("Output Location: " + outPath);
-        }
+        _logger.LogDebug("Parsing: {file}", inPath);
+        _logger.LogDebug("Output Location: {file}", outPath);
+
 
         using var tokenizer = new MessageTokenizer(inPath, new HashSet<string>(Utilities.BuiltInTypesMapping.Keys));
         var listsOfTokens = tokenizer.Tokenize();
@@ -60,10 +63,6 @@ protected override List<string> GenerateSingle(string inPath, string outPath, st
 
 public class ActionWrapper
 {
-
-    private const string ONE_TAB = "    ";
-    private const string TWO_TABS = "        ";
-
     private readonly string _inPath;
     private readonly string _inFileName;
 
@@ -107,12 +106,12 @@ private string GenerateParameterizedConstructor(string className, string msgType
         var paramsOut = new StringBuilder();
         var assignments = new StringBuilder();
 
-        if (msgType.Equals("Goal", StringComparison.Ordinal))
+        if (msgType == "Goal")
         {
             paramsIn.Append("Header header, GoalID goal_id, ");
             paramsOut.Append("header, goal_id");
         }
-        else if (msgType.Equals("Result", StringComparison.Ordinal) || msgType.Equals("Feedback", StringComparison.Ordinal))
+        else if (msgType is "Result" or "Feedback")
         {
             paramsIn.Append("Header header, GoalStatus status, ");
             paramsOut.Append("header, status");
@@ -156,7 +155,7 @@ public void WrapActionSections(string type)
         writer.Write(imports);
 
         // Write namespace
-        writer.Write($"namespace RosSharp.RosBridgeClient.MessageTypes.{Utilities.ResolvePackageName(_rosPackageName)}\n{{\n");
+        writer.Write($"namespace RosSharp.RosBridgeClient.MessageTypes.{ResolvePackageName(_rosPackageName)}\n{{\n");
 
         // Write class declaration
         writer.Write($"{ONE_TAB}public class {wrapperName} : Action{type}<{_inFileName}{type}>\n{ONE_TAB}{{\n");
@@ -165,7 +164,7 @@ public void WrapActionSections(string type)
         writer.WriteLine($"{TWO_TABS}public const string RosMessageName = \"{_rosPackageName}/{wrapperName}\";");
 
         // Record goal/result/feedback declaration
-        _symbolTable.Add(Utilities.LowerFirstLetter(type), msgName);
+        _symbolTable.Add(char.ToLower(type[0]) + type[1..], msgName);
 
         writer.WriteLine("");
 
@@ -193,13 +192,13 @@ public void WrapAction()
 
         using StreamWriter writer = new(outPath, false);
         // Write block comment
-        writer.WriteLine(Utilities.BLOCK_COMMENT);
+        writer.WriteLine(BLOCK_COMMENT);
 
         // Write imports
         writer.Write(imports);
 
         // Write namespace
-        writer.Write($"namespace RosSharp.RosBridgeClient.MessageTypes.{Utilities.ResolvePackageName(_rosPackageName)}\n{{\n");
+        writer.Write($"namespace RosSharp.RosBridgeClient.MessageTypes.{ResolvePackageName(_rosPackageName)}\n{{\n");
 
         // Write class declaration
         var genericParams = new string[] {

MessageGeneration/CodeGenerator.cs

@@ -1,45 +1,50 @@
-using System.ComponentModel.DataAnnotations;
-using System.Reflection;
-
+using Microsoft.Extensions.Logging;
 
 namespace RosNet.MessageGeneration;
 
 public abstract class CodeGenerator
 {
+    protected readonly ILogger<CodeGenerator> _logger;
+
+    public CodeGenerator(ILogger<CodeGenerator> logger)
+    {
+        _logger = logger;
+    }
     public static string FileExtension => throw new InvalidOperationException("Accessing fileextension of abstract class");
 
     public static string FileName => throw new InvalidOperationException("Accessing filename of abstract class");
-    protected abstract List<string> GenerateSingle(string inputPath, string outputPath, string? rosPackageName = "", bool? verbose = false);
-    public List<string> Generate(string inputPath, string outputPath, string? rosPackageName, bool? verbose)
+    protected abstract List<string> GenerateSingle(string inputPath, string? outputPath, string? rosPackageName = "");
+    public List<string> Generate(string inputPath, string? outputPath, string? rosPackageName)
     {
-        var fileName = (string)this.GetType().GetProperty("FileName", BindingFlags.Public | BindingFlags.Static)?.GetValue(null)!;
-        var fileExtension = (string)this.GetType().GetProperty("FileExtension", BindingFlags.Public | BindingFlags.Static)?.GetValue(null)!;
-
+        var fileName = (string)this.GetType().GetField("FileName")?.GetValue(null)!;
+        var fileExtension = (string)this.GetType().GetField("FileExtension")?.GetValue(null)!;
         var warnings = new List<string>();
+
         if (Directory.Exists(inputPath))
         {
             // TODO: make this flexible depending on 
-            string[] files = Directory.GetFiles(inputPath, fileExtension, SearchOption.AllDirectories);
+            string[] files = Directory.GetFiles(inputPath, "*" + fileExtension, SearchOption.AllDirectories);
 
             if (files.Length == 0)
             {
-                Console.Error.WriteLine($"No {fileName} files found!");
+                _logger.LogError("No files found in {fileName}!", fileName);
                 return warnings;
             }
             else
             {
-                if (verbose ?? false)
-                {
-                    Console.WriteLine($"Found {files.Length} {fileName} files.");
-                }
+                _logger.LogDebug("Found {count} files in {directory}.", files.Length, fileName);
                 foreach (string file in files)
                 {
-                    warnings.AddRange(GenerateSingle(file, outputPath, rosPackageName, verbose ?? false));
+                    warnings.AddRange(GenerateSingle(file, outputPath, rosPackageName));
                 }
             }
         }
+        else if (File.Exists(inputPath))
+        {
+            _logger.LogDebug("Generating code for {File}", inputPath);
+            warnings.AddRange(GenerateSingle(Path.GetFullPath(inputPath), outputPath, rosPackageName));
+        }
 
         return warnings;
     }
-
 }

MessageGeneration/MessageCodeGenerator.cs

@@ -1,27 +1,30 @@
-namespace RosNet.MessageGeneration;
+using Microsoft.Extensions.Logging;
+
+namespace RosNet.MessageGeneration;
 
 public class MessageCodeGenerator : CodeGenerator
 {
     public static new readonly string FileExtension = ".msg";
     public static new readonly string FileName = "message";
-    protected override List<string> GenerateSingle(string inPath, string outPath, string? rosPackageName = "", bool? verbose = false)
+
+    public MessageCodeGenerator(ILogger<MessageCodeGenerator> logger) : base(logger)
+    {
+    }
+
+    protected override List<string> GenerateSingle(string inPath, string? outPath, string? rosPackageName = "")
     {
         // If no ROS package name is provided, extract from path
-        rosPackageName ??= inPath.Split(Path.PathSeparator)[^3];
+        rosPackageName ??= inPath.Split(Path.DirectorySeparatorChar)[^3];
 
-        outPath = Path.Combine(outPath, Utilities.ResolvePackageName(rosPackageName));
+        outPath = Path.Combine(outPath ?? "", Utilities.ResolvePackageName(rosPackageName));
 
         string inFileName = Path.GetFileNameWithoutExtension(inPath);
 
-        if (!(rosPackageName.Equals("std_msgs", StringComparison.Ordinal)
-            && (inFileName.Equals("Time", StringComparison.Ordinal)
-            || inFileName.Equals("Duration", StringComparison.Ordinal))))
+        if (rosPackageName != "std_msgs" && inFileName.ToLower() is "time" or "duration")
         {
-            if (verbose ?? false)
-            {
-                Console.WriteLine("Parsing: " + inPath);
-                Console.WriteLine("Output Location: " + outPath);
-            }
+
+            _logger.LogDebug("Parsing: {file}", inPath);
+            _logger.LogDebug("Output Location: {file}", outPath);
 
             using var tokenizer = new MessageTokenizer(inPath, new HashSet<string>(Utilities.BuiltInTypesMapping.Keys));
             List<List<MessageToken>> listOfTokens = tokenizer.Tokenize();
@@ -37,10 +40,8 @@ protected override List<string> GenerateSingle(string inPath, string outPath, st
         }
         else
         {
-            if (verbose ?? false)
-            {
-                Console.WriteLine(inFileName + " will not be generated");
-            }
+            _logger.LogInformation("{file} will not be generated", inFileName);
+
             return new List<string>();
         }
     }

MessageGeneration/MessageGeneration.csproj

@@ -8,5 +8,6 @@
 
   <ItemGroup>
     <PackageReference Include="Microsoft.CodeAnalysis.CSharp" Version="4.0.1" />
+    <PackageReference Include="Microsoft.Extensions.Logging" Version="6.0.0" />
   </ItemGroup>
 </Project>

MessageGeneration/MessageParser.cs

@@ -1,5 +1,7 @@
 using Microsoft.CodeAnalysis.CSharp;
 
+using static RosNet.MessageGeneration.Utilities;
+
 namespace RosNet.MessageGeneration;
 
 public class MessageParser
@@ -41,9 +43,9 @@ public MessageParser(List<MessageToken> tokens, string outPath, string rosPackag
 
         this._rosPackageName = rosPackageName;
 
-        this._className = className.Length == 0 ? Utilities.CapitalizeFirstLetter(_inFileName) : className;
+        this._className = className.Length == 0 ? CapitalizeFirstLetter(_inFileName) : className;
 
-        this._rosMsgName = rosMsgName.Length == 0 ? Utilities.CapitalizeFirstLetter(_inFileName) : rosMsgName;
+        this._rosMsgName = rosMsgName.Length == 0 ? CapitalizeFirstLetter(_inFileName) : rosMsgName;
 
 
         this._outPath = outPath;
@@ -195,7 +197,7 @@ private void Declaration()
             {
                 Warn($"By convention, there is only one header for each message. ({_inFilePath}:{_lineNum})");
             }
-            if (peeked.Type == MessageTokenType.Identifier && !peeked.Content.Equals("header", StringComparison.Ordinal))
+            if (peeked.Type == MessageTokenType.Identifier && peeked.Content != "header")
             {
                 Warn($"By convention, a ros message Header will be named 'header'. '{peeked.Content}'. ({_inFilePath}:{_lineNum})");
             }
@@ -248,18 +250,18 @@ private void Declaration()
         }
 
         // Constant Declaration
-        if (peeked?.Type == MessageTokenType.ConstantDeclaration)
+        if (peeked.Type == MessageTokenType.ConstantDeclaration)
         {
             if (!canHaveConstDecl)
             {
-                throw new MessageParserException($"Type {type}' at {_inFilePath}:{_lineNum} cannot have constant declaration");
+                throw new MessageParserException($"Type {type}' cannot have constant declaration", _inFilePath, _lineNum);
             }
             declaration += $"const {type} {identifier} = {ConstantDeclaration(type)}";
             _constants.Add(identifier);
         }
         else
         {
-            declaration += $"{type} {identifier}{Utilities.PROPERTY_EXTENSION}\n";
+            declaration += $"{type} {identifier} {{ get; set; }}\n";
         }
         _body += declaration;
     }