Merge pull request #460 from siemens/ROS2-Update

General update, rework and improvements to the entire ROS# repository for ROS2

.gitignore

@@ -1 +1,4 @@
-.vs/
+/.vs
+/.vs/slnx.sqlite
+/Libraries/CombinedOutput
+/test

CODE_OF_CONDUCT.md

@@ -74,7 +74,5 @@ available at [http://contributor-covenant.org/version/1/4][version]
 [homepage]: http://contributor-covenant.org
 [version]: http://contributor-covenant.org/version/1/4/
 ---
+© Siemens AG, 2017-2024
 
-© Siemens AG, 2017
-
-Author: Dr. Martin Bischoff ([email protected])

CONTRIBUTING.md

@@ -31,6 +31,5 @@ Please send your suggested documentation, preferably in markdown format, to the
 
 ---
 
-© Siemens AG, 2017
+© Siemens AG, 2017-2024
 
-Author: Dr. Martin Bischoff ([email protected])

Libraries/MessageGeneration/ActionAutoGen.cs

@@ -22,6 +22,7 @@ namespace RosSharp.RosBridgeClient.MessageGeneration
 {
     public class ActionAutoGen
     {
+        public static bool isRos2 = true;
         private static readonly string[] types = {"Goal", "Result", "Feedback"};
 
         public static List<string> GenerateSingleAction(string inPath, string outPath, string rosPackageName = "", bool verbose = false) {
@@ -61,7 +62,7 @@ public static List<string> GenerateSingleAction(string inPath, string outPath, s
                 string className = inFileName + types[i];
 
                 // Parse and generate goal, result, feedback messages
-                MessageParser parser = new MessageParser(tokens, outPath, rosPackageName, "action", MsgAutoGenUtilities.builtInTypesMapping, MsgAutoGenUtilities.builtInTypesDefaultInitialValues, className, className);
+                MessageParser parser = new MessageParser(tokens, outPath, rosPackageName, "action", MsgAutoGenUtilities.builtInTypesMapping, MsgAutoGenUtilities.builtInTypesDefaultInitialValues, className, className, isRos2: isRos2);
                 parser.Parse();
                 warnings.AddRange(parser.GetWarnings());
 
@@ -228,6 +229,16 @@ public void WrapActionSections(string type)
                 // Write block comment
                 writer.Write(MsgAutoGenUtilities.BLOCK_COMMENT + "\n");
 
+                // Write preprocessor directive: Begin
+                if (ActionAutoGen.isRos2)
+                {
+                    writer.Write("#if ROS2\n");
+                }
+                else
+                {
+                    writer.Write("#if !ROS2\n");
+                }
+
                 // Write imports
                 writer.Write(imports);
 
@@ -263,6 +274,9 @@ public void WrapActionSections(string type)
                 writer.Write(ONE_TAB + "}\n");
                 // Close namespace
                 writer.Write("}\n");
+
+                // Write preprocessor directive: End
+                writer.Write("#endif\n");
             }
         }
 
@@ -281,6 +295,16 @@ public void WrapAction()
                 // Write block comment
                 writer.Write(MsgAutoGenUtilities.BLOCK_COMMENT + "\n");
 
+                // Write preprocessor directive: Begin
+                if (ActionAutoGen.isRos2)
+                {
+                    writer.Write("#if ROS2\n");
+                }
+                else
+                {
+                    writer.Write("#if !ROS2\n");
+                }
+
                 // Write imports
                 writer.Write(imports);
 
@@ -305,9 +329,18 @@ public void WrapAction()
                     );
 
                 // Write ROS package name
-                writer.Write(
-                    TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + wrapperName + "\";\n"
-                    );
+                if (ActionAutoGen.isRos2)
+                {
+                    writer.Write(
+                        TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + "action" + "/" 
+                        + wrapperName + "\";\n");
+                }
+                else
+                {
+                    writer.Write(
+                        TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + wrapperName + "\";\n"
+                        );
+                }
 
                 // Record variables
                 // Action Goal
@@ -324,6 +357,9 @@ public void WrapAction()
                 writer.Write(ONE_TAB + "}\n");
                 // Close namespace
                 writer.Write("}\n");
+
+                // Write preprocessor directive: End
+                writer.Write("#endif\n");
             }
         }
 

Libraries/MessageGeneration/MessageAutoGen.cs

@@ -25,6 +25,7 @@ namespace RosSharp.RosBridgeClient.MessageGeneration
 
     public class MessageAutoGen
     {
+        public static bool isRos2 = true;
         public static List<string> GenerateSingleMessage(string inPath, string outPath, string rosPackageName = "", bool verbose = false)
         {
             // If no ROS package name is provided, extract from path
@@ -52,14 +53,12 @@ public static List<string> GenerateSingleMessage(string inPath, string outPath,
                     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);
+                MessageParser parser = new MessageParser(listOfTokens[0], outPath, rosPackageName, "msg", MsgAutoGenUtilities.builtInTypesMapping, MsgAutoGenUtilities.builtInTypesDefaultInitialValues, isRos2: isRos2);
                 parser.Parse();
                 return parser.GetWarnings();
             }
             else {
-                if (verbose) {
-                    Console.WriteLine(inFileName + " will not be generated");
-                }
+                Console.WriteLine(inFileName + " will not be generated, needs manuel attention.");
                 return new List<string>();
             }
         }

Libraries/MessageGeneration/MessageGeneration.csproj

@@ -1,57 +1,29 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
-  <PropertyGroup>
-    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
-    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
-    <ProjectGuid>{F15D855D-FF65-4ADE-9972-31A3162E640E}</ProjectGuid>
-    <OutputType>Library</OutputType>
-    <AppDesignerFolder>Properties</AppDesignerFolder>
-    <RootNamespace>MessageGeneration</RootNamespace>
-    <AssemblyName>MessageGeneration</AssemblyName>
-    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
-    <FileAlignment>512</FileAlignment>
-    <TargetFrameworkProfile />
-  </PropertyGroup>
-  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
-    <DebugSymbols>true</DebugSymbols>
-    <DebugType>full</DebugType>
-    <Optimize>false</Optimize>
-    <OutputPath>bin\Debug\</OutputPath>
-    <DefineConstants>DEBUG;TRACE</DefineConstants>
-    <ErrorReport>prompt</ErrorReport>
-    <WarningLevel>4</WarningLevel>
-  </PropertyGroup>
-  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
-    <DebugType>pdbonly</DebugType>
-    <Optimize>true</Optimize>
-    <OutputPath>bin\Release\</OutputPath>
-    <DefineConstants>TRACE</DefineConstants>
-    <ErrorReport>prompt</ErrorReport>
-    <WarningLevel>4</WarningLevel>
-  </PropertyGroup>
-  <PropertyGroup>
-    <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
-  </PropertyGroup>
-  <ItemGroup>
-    <Reference Include="System" />
-    <Reference Include="System.Core" />
-    <Reference Include="System.Xml.Linq" />
-    <Reference Include="System.Data.DataSetExtensions" />
-    <Reference Include="Microsoft.CSharp" />
-    <Reference Include="System.Data" />
-    <Reference Include="System.Net.Http" />
-    <Reference Include="System.Xml" />
-  </ItemGroup>
-  <ItemGroup>
-    <Compile Include="ActionAutoGen.cs" />
-    <Compile Include="MessageAutoGen.cs" />
-    <Compile Include="MessageParser.cs" />
-    <Compile Include="MessageToken.cs" />
-    <Compile Include="MessageTokenizer.cs" />
-    <Compile Include="MsgAutoGenUtilities.cs" />
-    <Compile Include="Properties\AssemblyInfo.cs" />
-    <Compile Include="ServiceAutoGen.cs" />
-  </ItemGroup>
-  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+<Project Sdk="Microsoft.NET.Sdk">
+	<PropertyGroup>
+		<TargetFramework>net8.0</TargetFramework>
+		<OutputType>Library</OutputType>
+		<GenerateAssemblyInfo>false</GenerateAssemblyInfo>
+		<Configurations>Debug;Release;ROS2</Configurations>
+	</PropertyGroup>
+	<PropertyGroup>
+		<AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
+		<AssemblyTitle>MessageGeneration</AssemblyTitle>
+		<Description>.NET Library for generating C# source code for ROS message/service/action</Description>
+		<Company>Siemens AG</Company>
+		<Product>ROS#</Product>
+		<Copyright>Copyright © 2024</Copyright>
+		<AssemblyVersion>2.0.0.0</AssemblyVersion>
+		<FileVersion>2.0.0.0</FileVersion>
+	</PropertyGroup>
+	<ItemGroup>
+		<PackageReference Include="Microsoft.CSharp" Version="4.7.0" />
+		<PackageReference Include="System.Data.DataSetExtensions" Version="4.5.0" />
+	</ItemGroup>
+	<Target Name="CopyToCombinedOutput" AfterTargets="Publish">
+		<!-- Copy the new DLLs to the combined output folder -->
+		<ItemGroup>
+			<NewDllFiles Include="$(OutputPath)\publish\*.dll" />
+		</ItemGroup>
+		<Copy SourceFiles="@(NewDllFiles)" DestinationFolder="$(SolutionDir)CombinedOutput" />
+	</Target>
 </Project>

Libraries/MessageGeneration/MessageParser.cs

@@ -32,7 +32,7 @@ public class MessageParser{
         private readonly string rosPackageName;
         private readonly string className;
         private readonly string rosMsgName;
-
+        private readonly string type;
         private readonly string outPath;
         private string outFilePath;
 
@@ -50,14 +50,16 @@ public class MessageParser{
         private string body = "";
 
         private List<string> warnings = new List<string>();
+        protected bool isRos2;
 
-        public MessageParser(List<MessageToken> tokens, string outPath, string rosPackageName, string type, Dictionary<string, string> builtInTypeMapping, Dictionary<string, string> builtInTypesDefaultInitialValues, string className = "", string rosMsgName = "") {
+        public MessageParser(List<MessageToken> tokens, string outPath, string rosPackageName, string type, Dictionary<string, string> builtInTypeMapping, Dictionary<string, string> builtInTypesDefaultInitialValues, string className = "", string rosMsgName = "", bool isRos2 = true) {
             this.tokens = tokens;
 
             this.inFilePath = tokens[0].content;
             this.inFileName = Path.GetFileNameWithoutExtension(inFilePath);
 
             this.rosPackageName = rosPackageName;
+            this.type = type;
 
             if (className.Equals("")) {
                 this.className = MsgAutoGenUtilities.CapitalizeFirstLetter(inFileName);
@@ -83,6 +85,7 @@ public MessageParser(List<MessageToken> tokens, string outPath, string rosPackag
 
             this.builtInTypeMapping = builtInTypeMapping;
             this.builtInTypesDefaultInitialValues = builtInTypesDefaultInitialValues;
+            this.isRos2 = isRos2;
         }
 
         public void Parse() {
@@ -105,6 +108,15 @@ public void Parse() {
                     Line();
                 }
 
+                // Write preprocessor directive: Begin
+                if (isRos2) 
+                {
+                    writer.Write("#if ROS2");
+                }
+                else 
+                {
+                    writer.Write("#if !ROS2");
+                }
                 // Write imports
                 writer.Write(GenerateImports());
 
@@ -121,7 +133,14 @@ public void Parse() {
                     );
 
                 // Write ROS package name
-                writer.Write(MsgAutoGenUtilities.TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + rosMsgName + "\";\n\n");
+                if (isRos2)
+                {
+                    writer.Write(MsgAutoGenUtilities.TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + type + "/" + rosMsgName + "\";\n\n");
+                }
+                else 
+                {
+                    writer.Write(MsgAutoGenUtilities.TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + rosMsgName + "\";\n\n");                   
+                }
 
                 // Write body
                 writer.Write(body);
@@ -139,6 +158,9 @@ public void Parse() {
                 // Close namespace
                 writer.Write("}\n");
 
+                // Write preprocessor directive: End
+                writer.Write("#endif\n");
+
                 writer.Flush();
                 writer.Close();
             }

Libraries/MessageGeneration/Properties/AssemblyInfo.cs

@@ -1,16 +1,6 @@
 using System.Reflection;
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
-
-// General Information about an assembly is controlled through the following
-// set of attributes. Change these attribute values to modify the information
-// associated with an assembly.
-[assembly: AssemblyTitle("MessageGeneration")]
-[assembly: AssemblyDescription(".NET Library for generating C# source code for ROS message/service/action")]
-[assembly: AssemblyConfiguration("")]
-[assembly: AssemblyCompany("Siemens AG")]
-[assembly: AssemblyProduct("ROS#")]
-[assembly: AssemblyCopyright("Copyright © 2021")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
 
@@ -21,16 +11,3 @@
 
 // The following GUID is for the ID of the typelib if this project is exposed to COM
 [assembly: Guid("f15d855d-ff65-4ade-9972-31a3162e640e")]
-
-// Version information for an assembly consists of the following four values:
-//
-//      Major Version
-//      Minor Version
-//      Build Number
-//      Revision
-//
-// You can specify all the values or you can default the Build and Revision Numbers
-// by using the '*' as shown below:
-// [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("1.7.0.0")]
-[assembly: AssemblyFileVersion("1.7.0.0")]