public WallTimer(int period, Action <TimerEvent> handler, bool oneshot, RobotRaconteurNode node = null)
: this(period, oneshot, node, AttachHandler(handler))
{
if (node == null)
{
node = RobotRaconteurNode.s;
}
if (RobotRaconteurNETPINVOKE.SWIGPendingException.Pending)
{
throw RobotRaconteurNETPINVOKE.SWIGPendingException.Retrieve();
}
}
private void SetData(object dat)
{
if (dat == null)
{
_SetData(null);
return;
}
if (dat is Array)
{
using (RRBaseArray rb = MessageElementDataUtil.ArrayToRRBaseArray((Array)dat))
{
_SetData(rb);
}
return;
}
if (dat is string)
{
using (RRBaseArray rb = MessageElementDataUtil.stringToRRBaseArray((string)dat))
{
_SetData(rb);
}
return;
}
if (dat is MessageElementData)
{
_SetData((MessageElementData)dat);
return;
}
string datatype = datatype = RobotRaconteurNode.GetTypeString(dat.GetType());
DataTypes elementtype = DataTypeUtil.TypeIDFromString(datatype);
if (elementtype != DataTypes.void_t && (elementtype < DataTypes.uint64_t || elementtype == DataTypes.bool_t) &&
!(dat is Array))
{
object dat2 = DataTypeUtil.ArrayFromScalar(dat);
using (RRBaseArray rb = MessageElementDataUtil.ArrayToRRBaseArray((Array)dat2))
{
_SetData(rb);
}
return;
}
throw new DataTypeException("Invalid MessageElement data type");
}
private void LoadAllServiceTypes(RobotRaconteurNode node)
{
// https://stackoverflow.com/questions/13493416/scan-assembly-for-classes-that-implement-certain-interface-and-add-them-to-a-con
var assignableType = typeof(ServiceFactory);
var scanners = AppDomain.CurrentDomain.GetAssemblies()
.ToList()
.SelectMany(x => x.GetTypes())
.Where(t => assignableType.IsAssignableFrom(t) && t.IsClass && !t.IsAbstract)
.ToList();
foreach (Type type in scanners)
{
var service_factory = Activator.CreateInstance(type) as ServiceFactory;
if (service_factory != null)
{
node.RegisterServiceType(service_factory);
}
}
}
public static RRBaseArray ArrayToRRBaseArray(Array i, RRBaseArray o)
{
if (i == null)
{
return(null);
}
DataTypes type = DataTypeUtil.TypeIDFromString(RobotRaconteurNode.GetTypeString(i.GetType().GetElementType()));
if (i.Length != o.size())
{
throw new Exception("Length mismatch");
}
if (o.GetTypeID() != type)
{
throw new Exception("Type mismatch");
}
/*GCHandle h = GCHandle.Alloc(i, GCHandleType.Pinned);
* rr_memcpy.memcpy(o.void_ptr(), h.AddrOfPinnedObject(), i.Length * o.ElementSize());
* h.Free();*/
switch (type)
{
case DataTypes.double_t: {
var a = (double[])i;
MessageElementDataUtil.DoublesToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.single_t: {
var a = (float[])i;
MessageElementDataUtil.FloatsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.int8_t: {
var a = (sbyte[])i;
MessageElementDataUtil.BytesToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.uint8_t: {
var a = (byte[])i;
MessageElementDataUtil.BytesToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.int16_t: {
var a = (short[])i;
MessageElementDataUtil.ShortsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.uint16_t: {
var a = (ushort[])i;
MessageElementDataUtil.ShortsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.int32_t: {
var a = (int[])i;
MessageElementDataUtil.IntsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.uint32_t: {
var a = (uint[])i;
MessageElementDataUtil.IntsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.int64_t: {
var a = (long[])i;
MessageElementDataUtil.LongsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.uint64_t: {
var a = (ulong[])i;
MessageElementDataUtil.LongsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.cdouble_t: {
var a = (CDouble[])i;
var b = new double[a.Length * 2];
for (int j = 0; j < a.Length; j++)
{
b[j * 2] = a[j].Real;
b[j * 2 + 1] = a[j].Imag;
}
MessageElementDataUtil.DoublesToComplexRRBaseArray(b, b.Length, o);
return(o);
}
case DataTypes.csingle_t: {
var a = (CSingle[])i;
var b = new float[a.Length * 2];
for (int j = 0; j < a.Length; j++)
{
b[j * 2] = a[j].Real;
b[j * 2 + 1] = a[j].Imag;
}
MessageElementDataUtil.FloatsToComplexRRBaseArray(b, b.Length, o);
return(o);
}
case DataTypes.bool_t: {
var a = (bool[])i;
var b = new byte[a.Length];
for (int j = 0; j < a.Length; j++)
{
b[j] = a[j] ? (byte)1 : (byte)0;
}
MessageElementDataUtil.BytesToBoolRRBaseArray(b, b.Length, o);
return(o);
}
default:
throw new DataTypeException("Invalid RRBaseArray type");
}
return(o);
}
