forked from akio/rosgo
/
main.go
128 lines (114 loc) · 2.67 KB
/
main.go
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package main
import (
"flag"
"fmt"
"github.com/edwinhayes/rosgo/libgengo"
"go/format"
"io/ioutil"
"os"
"path/filepath"
"strings"
)
var (
out = flag.String("out", "vendor", "Directory to generate files in")
import_path = flag.String("import_path", "", "Specify import path/prefix for nested types")
)
func writeCode(fullname string, code string) error {
nameComponents := strings.Split(fullname, "/")
pkgDir := filepath.Join(*out, nameComponents[0])
if _, err := os.Stat(pkgDir); os.IsNotExist(err) {
err = os.MkdirAll(pkgDir, os.ModeDir|os.FileMode(0775))
if err != nil {
return err
}
}
filename := filepath.Join(pkgDir, nameComponents[1]+".go")
res, err := format.Source([]byte(code))
if err != nil {
return fmt.Errorf("Error formatting generated code: %+v", err)
}
return ioutil.WriteFile(filename, res, os.FileMode(0664))
}
func main() {
flag.Parse()
if _, err := os.Stat(*out); os.IsNotExist(err) {
err = os.MkdirAll(*out, os.ModeDir|os.FileMode(0775))
if err != nil {
fmt.Println(err)
os.Exit(-1)
}
}
if flag.NArg() < 2 {
fmt.Println("USAGE: gengo [-out=] [-import_path=] msg|srv <NAME> [<FILE>]")
os.Exit(-1)
}
rosPkgPath := os.Getenv("ROS_PACKAGE_PATH")
context, err := libgengo.NewMsgContext(strings.Split(rosPkgPath, ":"))
if err != nil {
fmt.Println(err)
os.Exit(-1)
}
mode := flag.Arg(0)
fullname := flag.Arg(1)
fmt.Printf("Generating %v...", fullname)
if mode == "msg" {
var spec *libgengo.MsgSpec
var err error
if flag.NArg() == 2 {
spec, err = context.LoadMsg(fullname)
} else {
spec, err = context.LoadMsgFromFile(flag.Arg(2), fullname)
}
if err != nil {
fmt.Println(err)
os.Exit(-1)
}
var code string
code, err = libgengo.GenerateMessage(context, spec)
if err != nil {
fmt.Println(err)
os.Exit(-1)
}
err = writeCode(fullname, code)
if err != nil {
fmt.Println(err)
os.Exit(-1)
}
} else if mode == "srv" {
var spec *libgengo.SrvSpec
var err error
if flag.NArg() == 2 {
spec, err = context.LoadSrv(fullname)
} else {
spec, err = context.LoadSrvFromFile(flag.Arg(2), fullname)
}
if err != nil {
fmt.Println(err)
os.Exit(-1)
}
srvCode, reqCode, resCode, err := libgengo.GenerateService(context, spec)
if err != nil {
fmt.Println(err)
os.Exit(-1)
}
err = writeCode(fullname, srvCode)
if err != nil {
fmt.Println(err)
os.Exit(-1)
}
err = writeCode(spec.Request.FullName, reqCode)
if err != nil {
fmt.Println(err)
os.Exit(-1)
}
err = writeCode(spec.Response.FullName, resCode)
if err != nil {
fmt.Println(err)
os.Exit(-1)
}
} else {
fmt.Println("USAGE: gengo <MSG>")
os.Exit(-1)
}
fmt.Println("Done")
}