public void Add(RosMessageConstantDescriptor constantDescriptor)
{
if (constantDescriptor == null)
{
throw new ArgumentNullException(nameof(constantDescriptor));
}
_constants.Add(constantDescriptor);
}
public static RosMessageDescriptor Create(Type type)
{
if (type == null)
{
throw new ArgumentNullException(nameof(type));
}
var messageTypeAttribute = type.GetCustomAttributes(false)
.OfType <RosMessageBaseAttribute>()
.FirstOrDefault();
if (messageTypeAttribute == null)
{
throw new NotSupportedException();
}
var descriptorBuilder = new RosMessageDescriptorBuilder();
var rosType = RosType.Parse(messageTypeAttribute.MessageType);
descriptorBuilder.SetRosType(rosType);
// Get Fields from properties
foreach (var property in type.GetProperties(BindingFlags.Instance | BindingFlags.Public))
{
var rosFieldAttribute = GetRosMessageFieldAttribute(property);
if (rosFieldAttribute == null)
{
continue;
}
var rosFieldType = GetRosFieldType(rosFieldAttribute.RosType, rosType.PackageName);
var rosIdentifier = rosFieldAttribute.RosIdentifier ?? property.Name;
var fieldDescriptor = new PropertyRosMessageFieldDescriptor(rosFieldAttribute.Index, rosFieldType,
rosIdentifier, property);
descriptorBuilder.Add(fieldDescriptor);
}
// Get Fields from fields
foreach (var field in type.GetFields(BindingFlags.Instance | BindingFlags.Public))
{
var rosFieldAttribute = GetRosMessageFieldAttribute(field);
if (rosFieldAttribute == null)
{
continue;
}
var rosFieldType = GetRosFieldType(rosFieldAttribute.RosType, rosType.PackageName);
var rosIdentifier = rosFieldAttribute.RosIdentifier ?? field.Name;
var fieldDescriptor = new FieldRosMessageFieldDescriptor(rosFieldAttribute.Index, rosFieldType,
rosIdentifier, field);
descriptorBuilder.Add(fieldDescriptor);
}
// Get Constants
foreach (var constant in GetConstants(type))
{
var rosConstantAttribute = constant.GetCustomAttributes(false)
.OfType <RosMessageFieldAttribute>()
.FirstOrDefault();
if (rosConstantAttribute == null)
{
continue;
}
var rosConstantType = RosType.Parse(rosConstantAttribute.RosType);
var constantValue = constant.GetValue(null);
var constantDescriptor = new RosMessageConstantDescriptor(rosConstantAttribute.Index, rosConstantType,
rosConstantAttribute.RosIdentifier, constantValue);
descriptorBuilder.Add(constantDescriptor);
}
return(descriptorBuilder.Build());
}
