One needs to run ANTLR to make ANTLR grammar file into source file.
How can I use Build Action in Visual Studio for this? How can I make an Action something like “Build Antlr” to run antlr to generate source code?

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You need to add this line in your project file.
<Project DefaultTargets="Build" InitialTargets="GenerateAntlrCode" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">