feat(csharp): 添加 csharp 驱动

recipes/ros2_csharp/activate.bat

@@ -0,0 +1,6 @@
+@echo off
+set AMENT_PREFIX_PATH_BACKUP=%AMENT_PREFIX_PATH%
+set AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library
+set PATH=%CONDA_PREFIX%\Library\bin;%PATH%
+set CMAKE_PREFIX_PATH=%CONDA_PREFIX%\Library;%CMAKE_PREFIX_PATH%
+set PYTHONPATH=%CONDA_PREFIX%\Lib\site-packages;%PYTHONPATH%

recipes/ros2_csharp/deactivate.bat

@@ -0,0 +1,6 @@
+@echo off
+set AMENT_PREFIX_PATH=%AMENT_PREFIX_PATH_BACKUP%
+set AMENT_PREFIX_PATH_BACKUP=
+set PATH=%PATH:%CONDA_PREFIX%\Library\bin;=%
+set CMAKE_PREFIX_PATH=%CMAKE_PREFIX_PATH:%CONDA_PREFIX%\Library;=%
+set PYTHONPATH=%PYTHONPATH:%CONDA_PREFIX%\Lib\site-packages;=%

recipes/ros2_csharp/meta.yaml

@@ -0,0 +1,42 @@
+package:
+  name: ros2_csharp
+  version: 0.0.1
+
+source:
+  path: {{ 你的安装打包目录 }}
+
+build:
+  number: 0
+  script:
+  # 创建基本目录
+  - mkdir %PREFIX%\Library\bin 2>nul
+  - mkdir %PREFIX%\Library\include 2>nul
+  - mkdir %PREFIX%\Library\lib 2>nul
+  - mkdir %PREFIX%\Library\share 2>nul 
+  # 复制文件
+  - xcopy /E /I /Y %SRC_DIR%\bin %PREFIX%\Library\bin
+  - xcopy /E /I /Y %SRC_DIR%\include %PREFIX%\Library\include
+  - xcopy /E /I /Y %SRC_DIR%\lib %PREFIX%\Library\lib
+  - xcopy /E /I /Y %SRC_DIR%\share %PREFIX%\Library\share
+
+  # 关键：注册ROS 2包
+  - mkdir %PREFIX%\Library\share\ament_index\resource_index\packages 2>nul
+  - copy  %RECIPE_DIR%\ros_driver %PREFIX%\Library\share\ament_index\resource_index\packages\ros_driver
+
+  # 设置环境变量
+  - mkdir %PREFIX%\etc\conda\activate.d 2>nul
+  - mkdir %PREFIX%\etc\conda\deactivate.d 2>nul
+  # activate脚本
+  - copy %RECIPE_DIR%\activate.bat %PREFIX%\etc\conda\activate.d\ros_csharp.bat
+  - copy %RECIPE_DIR%\deactivate.bat %PREFIX%\etc\conda\deactivate.d\ros_csharp.bat
+
+
+requirements:
+  host:
+  run:
+
+about:
+  home: https://www.ros.org/
+  license: BSD-3-Clause
+  summary: |
+    Robot Operating System

ros2_csharp/README.md

@@ -0,0 +1,38 @@
+## ros2 C# 开发指南
+
+## 背景
+    该项目是一个示例项目，帮您快速的配置 C# 开发环境。具体硬件设备驱动需要您自行编写。
+
+
+## C# 开发环境配置
+### 1. 安装 dotnet 环境
+dotnet [下载地址](https://dotnet.microsoft.com/zh-cn/download)
+安装完成后执行一下命令，如果安装成功会有如下展示。
+```
+  dotnet --version
+  8.0.406
+```
+
+### 2. ros2-humble 安装 
+    请参照官方[安装文档](https://docs.ros.org/en/humble/Installation/Windows-Install-Binary.html)
+
+### 3. 开发配置
+1. ros2_dotnet 环境配置请参阅[配置文档](https://github.com/ros2-dotnet/ros2_dotnet/blob/main/README.md)。
+2. 参照项目下的 ros_driver 创建您自己的项目。
+3. 编写相应的代码。
+4. 构建流程
+ ```
+ 打开 windows 搜索 Developer Command Prompt  启动 visual studio 
+ cd {本地ros2-humble} 目录
+ call ./local_setup.bat
+ cd {Uni-Lab-OS 项目目录}/ros_csharp
+ vcs import ./src < ros2_humble.repos
+ colcon build --merge-install --packages-up-to {your package name} --event-handlers console_cohesion+
+ ```
+5. 拷贝编译完成的包到conda 对应的虚拟环境目录下。
+6. 执行如下命令运行测试
+
+ ```
+  参照 ros_driver 项目，需要配置 CONFIG_FILE_PATH 环境变量，对应的值是 {Uni-Lab-OS 路径}/unilabos/registry/devices 下的 yaml 文件路径。
+  ros2 run {项目包名} {可执行程序名}
+ ```

ros2_csharp/ros2_humble.repos

@@ -0,0 +1,33 @@
+repositories:
+  ament_dotnet/ament_cmake_export_assemblies:
+    type: git
+    url: https://github.com/ros2-dotnet/ament_cmake_export_assemblies.git
+    version: main
+  ros2/common_interfaces:
+    type: git
+    url: https://github.com/ros2/common_interfaces.git
+    version: 4.2.4
+  ros2/rcl_interfaces:
+    type: git
+    url: https://github.com/ros2/rcl_interfaces.git
+    version: 1.2.1
+  ros2/rosidl_defaults:
+    type: git
+    url: https://github.com/ros2/rosidl_defaults.git
+    version: 1.2.0
+  ros2/test_interface_files:
+    type: git
+    url: https://github.com/ros2/test_interface_files.git
+    version: humble
+  ros2/unique_identifier_msgs:
+    type: git
+    url: https://github.com/ros2/unique_identifier_msgs.git
+    version: 2.2.1
+  ros2_dotnet/dotnet_cmake_module:
+    type: git
+    url: https://github.com/ros2-dotnet/dotnet_cmake_module.git
+    version: main
+  ros2_dotnet/ros2_dotnet:
+    type: git
+    url: https://github.com/ros2-dotnet/ros2_dotnet.git
+    version: main

ros2_csharp/src/ros_driver/CMakeLists.txt

@@ -0,0 +1,65 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(ros_driver C)
+
+find_package(ament_cmake REQUIRED)
+find_package(rcldotnet REQUIRED)
+
+find_package(rcldotnet_common REQUIRED)
+
+find_package(builtin_interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(test_msgs REQUIRED)
+find_package(action_msgs REQUIRED)  # Add this line
+find_package(rcldotnet REQUIRED)
+find_package(ilabos_msgs REQUIRED)
+
+
+
+find_package(dotnet_cmake_module REQUIRED)
+
+set(CSHARP_TARGET_FRAMEWORK "netcoreapp6.0")
+find_package(DotNETExtra REQUIRED)
+
+
+# 使用相对路径定位 YamlDotNet.dll
+set(YAMLDOTNET_DLL "${CMAKE_CURRENT_SOURCE_DIR}/deps/YamlDotNet/YamlDotNet.dll")
+
+# 检查文件是否存在
+if(NOT EXISTS ${YAMLDOTNET_DLL})
+  message(FATAL_ERROR "YamlDotNet.dll not found at: ${YAMLDOTNET_DLL}")
+endif()
+
+
+set(_assemblies_dep_dlls
+    ${rcldotnet_common_ASSEMBLIES_DLL}
+    ${rcldotnet_ASSEMBLIES_DLL}
+    ${builtin_interfaces_ASSEMBLIES_DLL}
+    ${std_msgs_ASSEMBLIES_DLL}
+    ${std_srvs_ASSEMBLIES_DLL}
+    ${geometry_msgs_ASSEMBLIES_DLL}
+    ${test_msgs_ASSEMBLIES_DLL}
+    ${action_msgs_ASSEMBLIES_DLL}
+    ${ilabos_msgs_ASSEMBLIES_DLL}
+    ${YAMLDOTNET_DLL}
+)
+
+add_dotnet_executable(ros_driver
+  Program.cs
+  DeviceNode.cs
+  DeviceActionServer.cs
+  PropertyPublisher.cs
+  MockGripper.cs
+  utils/Yaml.cs
+  utils/MessageConverter.cs
+  INCLUDE_DLLS
+  ${_assemblies_dep_dlls}
+)
+
+
+install_dotnet(ros_driver DESTINATION lib/${PROJECT_NAME}/dotnet)
+
+
+ament_package()

ros2_csharp/src/ros_driver/DeviceActionServer.cs

@@ -0,0 +1,133 @@
+using System;
+using System.Threading;
+using System.Threading.Tasks;
+using ROS2;
+using test_msgs.action;
+using System.Collections.Generic;
+using ilabos_msgs.action;
+using RosDriver.Utils;
+
+namespace ros_driver
+{
+    /// <summary>
+    /// Generic action server that can be used with any ROS2 action type
+    /// </summary>
+    public class DeviceActionServer<TAction, TGoal, TResult, TFeedback> : IDisposable
+            where TAction : IRosActionDefinition<TGoal, TResult, TFeedback>
+            where TGoal : IRosMessage, new()
+            where TResult : IRosMessage, new()
+            where TFeedback : IRosMessage, new()
+    {
+        private readonly Node _node;
+        private readonly string _actionName;
+        private bool _disposed = false;
+        private ActionValueMapping _actionValue = null;
+        private readonly object _device = null;
+
+
+        public DeviceActionServer(
+            Node node, 
+            object device,
+            string actionName, 
+            ActionValueMapping actionValue)
+        {
+            _node = node;
+            _actionName = actionName;
+            _actionValue = actionValue;
+            _device = device;
+
+            _node.CreateActionServer<TAction, TGoal, TResult, TFeedback>(
+                _actionName, 
+                HandleAccepted, 
+                cancelCallback: HandleCancel);
+
+            Console.WriteLine($"Created Action Server: {_actionName}");
+        }
+
+
+        private void HandleAccepted(ActionServerGoalHandle<TAction, TGoal, TResult, TFeedback> goalHandle)
+        {
+            // Don't block in the callback.
+            // -> Don't wait for the returned Task.
+            _ = DoWorkWithGoal(goalHandle);
+        }
+
+        private CancelResponse HandleCancel(ActionServerGoalHandle<TAction, TGoal, TResult, TFeedback> goalHandle)
+        {
+            return CancelResponse.Accept;
+        }
+
+        private async Task DoWorkWithGoal(ActionServerGoalHandle<TAction, TGoal, TResult, TFeedback> goalHandle)
+        {
+
+            Console.WriteLine("Executing goal...");
+            // 检查 TAction 是否是 Fibonacci 类型
+            if (typeof(TAction) == typeof(Fibonacci))
+            {
+                Console.WriteLine("确认 TAction 是 Fibonacci 类型");
+                // 注意：这种转换是不安全的，因为泛型参数在编译时已确定
+                // 这里仅作为示例，实际使用时需要谨慎
+                var fibonacciGoalHandle = goalHandle as ActionServerGoalHandle<Fibonacci, Fibonacci_Goal, Fibonacci_Result, Fibonacci_Feedback>;
+                if (fibonacciGoalHandle != null)
+                {
+                    Console.WriteLine("成功转换为 Fibonacci 类型的 GoalHandle");
+                    var feedback = new Fibonacci_Feedback();
+
+                    feedback.Sequence = new List<int> { 0, 1 };
+
+                    for (int i = 1; i < fibonacciGoalHandle.Goal.Order; i++)
+                    {
+                        if (fibonacciGoalHandle.IsCanceling)
+                        {
+                            var cancelResult = new Fibonacci_Result();
+                            cancelResult.Sequence = feedback.Sequence;
+
+                            Console.WriteLine($"Canceled Result: {string.Join(", ", cancelResult.Sequence)}");
+                            fibonacciGoalHandle.Canceled(cancelResult);
+                            return;
+                        }
+
+                        feedback.Sequence.Add(feedback.Sequence[i] + feedback.Sequence[i - 1]);
+
+                        Console.WriteLine($"Feedback: {string.Join(", ", feedback.Sequence)}");
+                        fibonacciGoalHandle.PublishFeedback(feedback);
+
+                        // NOTE: This causes the code to resume in an background worker Thread.
+                        // Consider this when copying code from the example if additional synchronization is needed.
+                        await Task.Delay(1000);
+                    }
+
+                    var result = new Fibonacci_Result();
+                    result.Sequence = feedback.Sequence;
+
+                    Console.WriteLine($"Result: {string.Join(", ", result.Sequence)}");
+                    fibonacciGoalHandle.Succeed(result);
+                }
+            }
+            else
+            {
+                Console.WriteLine($"TAction 不是 Fibonacci 类型，而是 {typeof(TAction).Name}");
+                return;
+            }
+        }
+
+        public void Dispose()
+        {
+            Dispose(true);
+            GC.SuppressFinalize(this);
+        }
+
+        protected virtual void Dispose(bool disposing)
+        {
+            if (!_disposed)
+            {
+                if (disposing)
+                {
+                    // Release managed resources if any
+                }
+
+                _disposed = true;
+            }
+        }
+    }
+}