From eee4905884c63c4385f128db31b9819816e1f3c3 Mon Sep 17 00:00:00 2001
From: Daniel Stonier <d.stonier@gmail.com>
Date: Sun, 29 Jun 2014 11:42:29 +0900
Subject: [PATCH] single interface generator for genjava.

---
 .../internal/message/GenerateInterface.java   | 105 ++++++++++++++++++
 1 file changed, 105 insertions(+)
 create mode 100644 message_generation/src/main/java/org/ros/internal/message/GenerateInterface.java

diff --git a/message_generation/src/main/java/org/ros/internal/message/GenerateInterface.java b/message_generation/src/main/java/org/ros/internal/message/GenerateInterface.java
new file mode 100644
index 0000000..8e9132f
--- /dev/null
+++ b/message_generation/src/main/java/org/ros/internal/message/GenerateInterface.java
@@ -0,0 +1,105 @@
+/*
+ * Copyright (C) 2014 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.internal.message;
+
+import java.io.File;
+import java.io.IOException;
+import java.util.List;
+
+import org.apache.commons.io.FileUtils;
+import org.apache.commons.io.FilenameUtils;
+
+import org.ros.exception.RosMessageRuntimeException;
+import org.ros.internal.message.definition.MessageDefinitionReflectionProvider;
+import org.ros.internal.message.definition.MessageDefinitionTupleParser;
+import org.ros.message.MessageDeclaration;
+import org.ros.message.MessageFactory;
+import org.ros.message.MessageIdentifier;
+
+import com.google.common.collect.Lists;
+
+/**
+ * @author d.stonier@gmail.com (Daniel Stonier)
+ */
+public class GenerateInterface {
+
+  private static void writeInterface(MessageDeclaration messageDeclaration, File outputDirectory,
+      boolean addConstantsAndMethods, MessageFactory messageFactory) {
+    MessageInterfaceBuilder builder = new MessageInterfaceBuilder();
+    builder.setPackageName(messageDeclaration.getPackage());
+    builder.setInterfaceName(messageDeclaration.getName());
+    builder.setMessageDeclaration(messageDeclaration);
+    builder.setAddConstantsAndMethods(addConstantsAndMethods);
+    try {
+      String content;
+      content = builder.build(messageFactory);
+      File file = new File(outputDirectory, messageDeclaration.getType() + ".java");
+      System.out.println("Output File: " + file.getAbsolutePath());
+      FileUtils.writeStringToFile(file, content);
+    } catch (Exception e) {
+      System.out.printf("Failed to generate interface for %s.\n", messageDeclaration.getType());
+      e.printStackTrace();
+    }
+  }
+
+  public static void main(String[] args) {
+    List<String> arguments = Lists.newArrayList(args);
+    if (arguments.size() != 3) {
+      System.out
+          .println("Incorrect usage, please provide two args: _output_directory_, _pkg_ and _path_to_msg/srv_file_");
+      System.exit(1);
+    }
+    File outputDirectory = new File(arguments.remove(0));
+    String pkg = arguments.remove(0);
+    File file = new File(arguments.remove(0));
+
+    System.out.println("Output Directory: " + outputDirectory.getAbsolutePath());
+    System.out.println("Package: " + pkg);
+    System.out.println("Message: " + file.getAbsolutePath());
+
+    String name = FilenameUtils.getBaseName(file.getName());
+    String extension = FilenameUtils.getExtension(file.getName());
+
+    System.out.println("  Name: " + name);
+    System.out.println("  Extension: " + extension);
+    String definition;
+    try {
+      definition = FileUtils.readFileToString(file, "US-ASCII");
+    } catch (IOException e) {
+      throw new RosMessageRuntimeException(e);
+    }
+    MessageIdentifier messageIdentifier = MessageIdentifier.of(pkg, name);
+    MessageDeclaration messageDeclaration = new MessageDeclaration(messageIdentifier, definition);
+    MessageDefinitionReflectionProvider messageDefinitionProvider =
+        new MessageDefinitionReflectionProvider();
+    messageDefinitionProvider.add(messageIdentifier.getType(), definition);
+    MessageFactory messageFactory = new DefaultMessageFactory(messageDefinitionProvider);
+    if (extension.equals("msg")) {
+      writeInterface(messageDeclaration, outputDirectory, true, messageFactory);
+    } else if (extension.equals("srv")) {
+      writeInterface(messageDeclaration, outputDirectory, false, messageFactory);
+      List<String> requestAndResponse = MessageDefinitionTupleParser.parse(definition, 2);
+      MessageDeclaration requestDeclaration =
+          MessageDeclaration.of(messageIdentifier.getType() + "Request", requestAndResponse.get(0));
+      MessageDeclaration responseDeclaration =
+          MessageDeclaration
+              .of(messageIdentifier.getType() + "Response", requestAndResponse.get(1));
+      writeInterface(requestDeclaration, outputDirectory, true, messageFactory);
+      writeInterface(responseDeclaration, outputDirectory, true, messageFactory);
+    }
+  }
+}
-- 
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