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We cannot use Symfony CMF. I found it works for Symfony2 only.
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Custom routing https://github.com/mixtline/test-task-1
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Catch kernel.request event https://github.com/mixtline/test-task-2
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According to Symfony3 documentation we can use route configs in php. It means we can get current path in our /app/config/routing.php, split it (the same way as we did for 2 and 3) and get correct route (or exception if the route is wrong).
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To develop a script that will find all bundles and will generate routing.yml for all found controllers. The only negative face - we will need to run the script after deploy or after each adding/removing action in the controllers.