static SerializationTestEngine()
{
var assembly = typeof(SerializationTestEngine).Assembly;
string scheme;
Stream stream = null;
try
{
stream = assembly.GetManifestResourceStream(typeof(SerializationTestEngine), "AutogeneratedTests.Scheme.txt");
using (var reader = new StreamReader(stream))
{
stream = null;
scheme = reader.ReadToEnd();
}
}
finally
{
if (stream != null)
{
stream.Dispose();
}
}
_uavcanTypeResolver = new TypeResolverFactory().Create(scheme);
}
public static void ResolveNestedTypes(IUavcanType type, IUavcanTypeResolver typeResolver)
{
if (type == null)
{
throw new ArgumentNullException(nameof(type));
}
if (typeResolver == null)
{
throw new ArgumentNullException(nameof(typeResolver));
}
switch (type)
{
case MessageType t:
ResolveNestedTypesCore(t.UnderlyingCompositeDsdlType, typeResolver);
break;
case ServiceType t:
ResolveNestedTypesCore(t.Request, typeResolver);
ResolveNestedTypesCore(t.Response, typeResolver);
break;
default:
throw new ArgumentOutOfRangeException(nameof(type));
}
}
static void ResolveNestedTypesCore(CompositeDsdlTypeBase t, IUavcanTypeResolver typeResolver)
{
foreach (var f in t.Fields)
{
if (f.Type is DsdlTypeReference reference)
{
var nestedType = typeResolver.ResolveType(reference.Namespace, reference.Name);
f.Type = CastNestedType(nestedType);
}
else if (f.Type is ArrayDsdlType adt && adt.ElementType is DsdlTypeReference elementTypeReference)
{
var nestedType = typeResolver.ResolveType(elementTypeReference.Namespace, elementTypeReference.Name);
adt.SetElementType(CastNestedType(nestedType));
}
}
}
public DsdlSerializer(IUavcanTypeResolver schemeResolver)
{
SchemeResolver = schemeResolver;
ContractResolver = new ContractResolver(schemeResolver);
}
void ResolveTypes(IUavcanTypeResolver typeResolver)
{
_logMessageType = (MessageType)typeResolver.ResolveType("uavcan.protocol.debug", "LogMessage");
_panicMessageType = (MessageType)typeResolver.ResolveType("uavcan.protocol", "Panic");
}
public UavcanInstance(IUavcanTypeResolver typeResolver)
{
TypeResolver = typeResolver;
Serializer = new DsdlSerializer(typeResolver);
_framesProcessor = new CanFramesProcessor(ShouldAcceptTransfer);
}
public ContractResolver(IUavcanTypeResolver schemeResolver)
{
_schemeResolver = schemeResolver;
}
