Merge v0.5.0 (#138)

README.md

@@ -1,12 +1,17 @@
 # ROS-TCP-Connector
 
-[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+[![Version](https://img.shields.io/github/v/tag/Unity-Technologies/ROS-TCP-Connector)](https://github.com/Unity-Technologies/ROS-TCP-Connector/releases)
+[![License](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE.md)
+![ROS](https://img.shields.io/badge/ros-melodic-brightgreen)
+![ROS](https://img.shields.io/badge/ros-noetic-brightgreen)
+![ROS](https://img.shields.io/badge/ros2-foxy-brightgreen)
+![Unity](https://img.shields.io/badge/unity-2020.2+-brightgreen)
 
 ## Installation
 1. Using Unity 2020.2 or later, open the package manager from `Window` -> `Package Manager` and select "Add package from git URL..."
 ![image](https://user-images.githubusercontent.com/29758400/110989310-8ea36180-8326-11eb-8318-f67ee200a23d.png)
-2. Enter the following URL. If you don't want to use the latest version, substitute your desired version tag where we've put `v0.4.0` in this example:
-`https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.4.0`
+2. Enter the following URL. If you don't want to use the latest version, substitute your desired version tag where we've put `v0.5.0` in this example:
+`https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.5.0`
 3. Click `Add`.
 
 

Third Party Notices.md

@@ -1,7 +1,18 @@
-Component name: siemens/ros-sharp<br/>
-Copyright 2017-2020 Siemens AG<br/>
-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<br/>
+Component name: ROS# (siemens/ros-sharp)
 
-   http://www.apache.org/licenses/LICENSE-2.0<br/>
+License Type: Apache 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.
+Copyright 2017-2020 Siemens AG
+
+```
+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.
+```

com.unity.robotics.ros-tcp-connector/CHANGELOG.md

@@ -20,6 +20,30 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a
 
 ### Fixed
 
+## [0.5.0-preview] - 2021-07-15
+
+### Upgrade Notes
+
+Update third party notices also
+
+### Known Issues
+
+### Added
+
+Add the option to connect to ROS2. User can use a dropdown menu and choose ROS1 or ROS2 protocols to connect to the ROS side
+
+Add badges to main README
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
+
+Fixed byte conversion method in the serialization process
+
 ## [0.4.0-preview] - 2021-05-27
 
 Note: the logs only reflect the changes from 0.3.0-preview

com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ActionAutoGen.cs → com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/ActionAutoGen.cs

@@ -27,7 +27,7 @@ public static string[] GetActionClassPaths(string inFilePath, string outPath)
             string rosPackageName = MessageAutoGen.GetRosPackageName(inFilePath);
             string outFolder = MessageAutoGen.GetMessageOutFolder(outPath, rosPackageName);
             string extension = Path.GetExtension(inFilePath);
-            string className = MsgAutoGenUtilities.MessageClassPrefix + MsgAutoGenUtilities.CapitalizeFirstLetter(Path.GetFileNameWithoutExtension(inFilePath));
+            string className = MsgAutoGenUtilities.CapitalizeFirstLetter(Path.GetFileNameWithoutExtension(inFilePath)) + MsgAutoGenUtilities.ActionClassSuffix;
 
             string[] result = new string[types.Length];
             for (int Idx = 0; Idx < types.Length; ++Idx)
@@ -73,10 +73,10 @@ public static List<string> GenerateSingleAction(string inPath, string outPath, s
                 List<MessageToken> tokens = listsOfTokens[i];
 
                 // Action is made up of goal, result, feedback
-                string className = MsgAutoGenUtilities.MessageClassPrefix + inFileName + types[i];
+                string className = inFileName + types[i] + MsgAutoGenUtilities.ActionClassSuffix;
 
                 // Parse and generate goal, result, feedback messages
-                MessageParser parser = new MessageParser(tokens, outPath, rosPackageName, "action", MsgAutoGenUtilities.builtInTypesMapping, MsgAutoGenUtilities.builtInTypesDefaultInitialValues, MsgAutoGenUtilities.numericTypeDeserializationFunctions, MsgAutoGenUtilities.numericTypeByteSize, className);
+                MessageParser parser = new MessageParser(tokens, outPath, rosPackageName, "action", MsgAutoGenUtilities.builtInTypesMapping, MsgAutoGenUtilities.builtInTypesDefaultInitialValues, className);
                 parser.Parse();
                 warnings.AddRange(parser.GetWarnings());
 
@@ -152,6 +152,7 @@ public class ActionWrapper
 
         private const string ONE_TAB = "    ";
         private const string TWO_TABS = "        ";
+        private const string THREE_TABS = "            ";
 
         private readonly string inPath;
         private readonly string inFileName;
@@ -199,12 +200,12 @@ private string GenerateParameterizedConstructor(string className, string msgType
 
             if (msgType.Equals("Goal"))
             {
-                paramsIn += "MHeader header, MGoalID goal_id, ";
+                paramsIn += "HeaderMsg header, GoalIDMsg goal_id, ";
                 paramsOut += "header, goal_id";
             }
             else if (msgType.Equals("Result") || msgType.Equals("Feedback"))
             {
-                paramsIn += "MHeader header, MGoalStatus status, ";
+                paramsIn += "HeaderMsg header, GoalStatusMsg status, ";
                 paramsOut += "header, status";
             }
 
@@ -228,47 +229,39 @@ private string GenerateParameterizedConstructor(string className, string msgType
             return constructor;
         }
 
-        private string GenerateSerializationStatements(string msgType)
+        private string GenerateDeserializerConstructor(string className, bool callBase = true)
         {
-            string function = "";
-            function += MsgAutoGenUtilities.TWO_TABS + "public override List<byte[]> SerializationStatements()\n";
-            function += MsgAutoGenUtilities.TWO_TABS + "{\n";
-            function += MsgAutoGenUtilities.TWO_TABS + MsgAutoGenUtilities.ONE_TAB + "var listOfSerializations = new List<byte[]>();\n";
-
-            string[] inheritedParams = new string[0];
-
-            // Inherited params
-            if (msgType.Equals("Goal"))
-            {
-                inheritedParams = new[] { "header", "goal_id" };
-
-            }
-            else if (msgType.Equals("Result") || msgType.Equals("Feedback"))
-            {
-                inheritedParams = new[] { "header", "status" };
-            }
-
-            foreach (string paramName in inheritedParams)
-            {
-                function += TWO_TABS + ONE_TAB + "listOfSerializations.AddRange(this." + paramName + ".SerializationStatements());\n";
-            }
+            string constructor = "";
+            string assignments = "";
 
             foreach (string identifier in symbolTable.Keys)
             {
-                function += TWO_TABS + ONE_TAB + "listOfSerializations.AddRange(this." + identifier + ".SerializationStatements());\n";
+                string type = symbolTable[identifier];
+
+                if (MsgAutoGenUtilities.nonMessageTypes.Contains(type))
+                {
+                    assignments += THREE_TABS + $"deserializer.Read(out this.{identifier});\n";
+                }
+                else
+                {
+                    assignments += THREE_TABS + $"this.{identifier} = {type}.Deserialize(deserializer);\n";
+                }
             }
 
-            function += "\n" + MsgAutoGenUtilities.TWO_TABS + MsgAutoGenUtilities.ONE_TAB + "return listOfSerializations;\n";
-            function += MsgAutoGenUtilities.TWO_TABS + "}\n\n";
+            constructor += TWO_TABS + $"public static {className} Deserialize(MessageDeserializer deserializer) => new {className}(deserializer);\n\n";
+            constructor += TWO_TABS + $"{className}(MessageDeserializer deserializer){(callBase ? " : base(deserializer)" : "")}\n";
+            constructor += TWO_TABS + "{\n";
+            constructor += assignments;
+            constructor += TWO_TABS + "}\n";
 
-            return function;
+            return constructor;
         }
 
-        private string GenerateDeserializationStatements(string msgType)
+        private string GenerateSerializationStatements(string msgType)
         {
             string function = "";
-            function += MsgAutoGenUtilities.TWO_TABS + "public override int Deserialize(byte[] data, int offset)\n";
-            function += MsgAutoGenUtilities.TWO_TABS + "{\n";
+            function += TWO_TABS + "public override void SerializeTo(MessageSerializer serializer)\n";
+            function += TWO_TABS + "{\n";
 
             string[] inheritedParams = new string[0];
 
@@ -285,24 +278,23 @@ private string GenerateDeserializationStatements(string msgType)
 
             foreach (string paramName in inheritedParams)
             {
-                function += TWO_TABS + ONE_TAB + "offset = this." + paramName + ".Deserialize(data, offset);\n";
+                function += THREE_TABS + "serializer.Write(this." + paramName + ");\n";
             }
 
             foreach (string identifier in symbolTable.Keys)
             {
-                function += TWO_TABS + ONE_TAB + "offset = this." + identifier + ".Deserialize(data, offset);\n";
+                function += THREE_TABS + "serializer.Write(this." + identifier + ");\n";
             }
 
-            function += "\n" + MsgAutoGenUtilities.TWO_TABS + MsgAutoGenUtilities.ONE_TAB + "return offset;\n";
-            function += MsgAutoGenUtilities.TWO_TABS + "}\n\n";
+            function += TWO_TABS + "}\n\n";
 
             return function;
         }
 
         public void WrapActionSections(string type)
         {
-            string wrapperName = MsgAutoGenUtilities.MessageClassPrefix + inFileName + "Action" + type;
-            string msgName = MsgAutoGenUtilities.MessageClassPrefix + inFileName + type;
+            string wrapperName = inFileName + "Action" + type + MsgAutoGenUtilities.ActionClassSuffix;
+            string msgName = inFileName + type + MsgAutoGenUtilities.ActionClassSuffix;
 
             string outPath = Path.Combine(this.outPath, wrapperName + ".cs");
 
@@ -333,7 +325,8 @@ public void WrapActionSections(string type)
 
                 // Write ROS package name
                 writer.Write(
-                    TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + inFileName + "Action" + type + "\";\n"
+                    TWO_TABS + "public const string k_RosMessageName = \"" + rosPackageName + "/" + inFileName + "Action" + type + "\";\n" +
+                    TWO_TABS + "public override string RosMessageName => k_RosMessageName;\n\n"
                     );
 
                 // Record goal/result/feedback declaration
@@ -347,8 +340,9 @@ public void WrapActionSections(string type)
                 // Write parameterized constructor
                 writer.Write(GenerateParameterizedConstructor(wrapperName, type));
 
+                writer.Write(GenerateDeserializerConstructor(wrapperName));
+
                 writer.Write(GenerateSerializationStatements(type));
-                writer.Write(GenerateDeserializationStatements(type));
 
                 // Close class
                 writer.Write(ONE_TAB + "}\n");
@@ -359,7 +353,7 @@ public void WrapActionSections(string type)
 
         public void WrapAction()
         {
-            string msgNamePrefix = MsgAutoGenUtilities.MessageClassPrefix + inFileName;
+            string msgNamePrefix = inFileName + MsgAutoGenUtilities.ActionClassSuffix;
             string className = msgNamePrefix + "Action";
             string type = "wrapper";
 
@@ -399,7 +393,8 @@ public void WrapAction()
 
                 // Write ROS package name
                 writer.Write(
-                    TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + inFileName + "Action" + "\";\n"
+                    TWO_TABS + "public const string k_RosMessageName = \"" + rosPackageName + "/" + inFileName + "Action" + "\";\n" +
+                    TWO_TABS + "public override string RosMessageName => k_RosMessageName;\n\n"
                     );
 
                 // Record variables
@@ -411,10 +406,11 @@ public void WrapAction()
                 symbolTable.Add("action_feedback", className + "Feedback");
 
                 // Write default value constructor
-                writer.Write("\n" + GenerateDefaultValueConstructor(className) + "\n");
+                writer.Write("\n");
+                writer.Write(GenerateDefaultValueConstructor(className) + "\n");
+                writer.Write(GenerateDeserializerConstructor(className, false) + "\n");
 
                 writer.Write(GenerateSerializationStatements(type));
-                writer.Write(GenerateDeserializationStatements(type));
 
                 // Close class
                 writer.Write(ONE_TAB + "}\n");

com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageAutoGen.cs → com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageAutoGen.cs

@@ -71,7 +71,7 @@ public static string GetMessageClassPath(string inFilePath, string outPath)
             string rosPackageName = MessageAutoGen.GetRosPackageName(inFilePath);
             string outFolder = MessageAutoGen.GetMessageOutFolder(outPath, rosPackageName);
             string extension = Path.GetExtension(inFilePath);
-            string className = MsgAutoGenUtilities.MessageClassPrefix + MsgAutoGenUtilities.CapitalizeFirstLetter(Path.GetFileNameWithoutExtension(inFilePath));
+            string className = MsgAutoGenUtilities.CapitalizeFirstLetter(Path.GetFileNameWithoutExtension(inFilePath)) + MsgAutoGenUtilities.MessageClassSuffix;
             return Path.Combine(outFolder, "msg", className + ".cs");
         }
 
@@ -84,7 +84,16 @@ public static List<string> GenerateSingleMessage(string inPath, string outPath,
 
             string inFileName = Path.GetFileNameWithoutExtension(inPath);
 
-            if (!(rosPackageName.Equals("std_msgs") && (inFileName.Equals("Time") || inFileName.Equals("Duration"))))
+            if (MsgAutoGenUtilities.HasHandwrittenMessage(rosPackageName, inFileName))
+            {
+                // don't generate! we have a handwritten message for this one
+                if (verbose)
+                {
+                    Console.WriteLine(inFileName + " will not be generated");
+                }
+                return new List<string>();
+            }
+            else
             {
                 if (verbose)
                 {
@@ -100,18 +109,10 @@ 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, MsgAutoGenUtilities.numericTypeDeserializationFunctions, MsgAutoGenUtilities.numericTypeByteSize);
+                MessageParser parser = new MessageParser(listOfTokens[0], outPath, rosPackageName, "msg", MsgAutoGenUtilities.builtInTypesMapping, MsgAutoGenUtilities.builtInTypesDefaultInitialValues);
                 parser.Parse();
                 return parser.GetWarnings();
             }
-            else
-            {
-                if (verbose)
-                {
-                    Console.WriteLine(inFileName + " will not be generated");
-                }
-                return new List<string>();
-            }
         }
 
         public static List<string> GeneratePackageMessages(string inPath, string outPath, string rosPackageName = "", bool verbose = false)