protected virtual void SanitizeMessageTemplateData(MessageTemplateData data)
{
// Sanitize possible identifier duplicates resulting from name identifier mapping
// Fall back to ROS identifier name in this case.
var duplicateIdentifiers = data.Fields.Select(f => f.Identifier)
.Union(data.Constants.Select(c => c.Identifier))
.GroupBy(identifier => identifier)
.Select(x => new { x.Key, Count = x.Count() })
.Where(x => x.Count > 1)
.Select(x => x.Key)
.ToList();
foreach (var field in data.Fields.Where(x => duplicateIdentifiers.Contains(x.Identifier)))
{
field.Identifier = field.RosIdentifier;
}
foreach (var constant in data.Constants.Where(x => duplicateIdentifiers.Contains(x.Identifier)))
{
constant.Identifier = constant.RosIdentifier;
}
// Sanitize possible CS0542: Members cannot be the same as their enclosing type.
// Rename those field to PreferredIdentifierIfEqualsTypeName. If the name is already used fall back to
// the original ROS identifier.
var cs0542Field = data.Fields
.FirstOrDefault(x => x.Identifier == data.TypeName);
if (cs0542Field != null)
{
var alternativeIdentifier = PreferredIdentifierIfEqualsTypeName;
alternativeIdentifier = NameMapper.GetFieldName(alternativeIdentifier);
if (data.Fields.Any(x => x.Identifier == alternativeIdentifier))
{
alternativeIdentifier = cs0542Field.RosIdentifier;
}
cs0542Field.Identifier = alternativeIdentifier;
}
var cs0542Const = data.Constants
.FirstOrDefault(x => x.Identifier == data.TypeName);
if (cs0542Const != null)
{
var alternativeIdentifier = PreferredIdentifierIfEqualsTypeName;
alternativeIdentifier = NameMapper.GetConstantName(alternativeIdentifier);
if (data.Constants.Any(x => x.Identifier == alternativeIdentifier))
{
alternativeIdentifier = cs0542Const.RosIdentifier;
}
cs0542Const.Identifier = alternativeIdentifier;
}
}
protected virtual MessageTemplateData GetMessageTemplateData(RosTypeInfo rosType, DetailedRosMessageType messageType,
MessageDescriptor message)
{
var fields = message.Fields
.Select(x => new FieldTemplateData
{
Index = message.Items
.Select((item, index) => new { Item = item, Index = index })
.First(f => f.Item == x)
.Index + 1, // Index of this field in serialized message (starting at 1)
RosType = x.TypeInfo,
RosIdentifier = x.Identifier,
Type = new FieldTypeTemplateData(NameMapper.ResolveFullQualifiedInterfaceName(x.TypeInfo),
NameMapper.ResolveFullQualifiedTypeName(x.TypeInfo),
x.TypeInfo)
,
Identifier = NameMapper.GetFieldName(x.Identifier)
})
.ToList();
var constants = message.Constants
.Select(c => new ConstantTemplateData
{
Index = message.Items
.Select((item, index) => new { item, index })
.First(x => x.item == c)
.index + 1,
RosType = c.TypeInfo,
RosIdentifier = c.Identifier,
TypeName = NameMapper.ResolveFullQualifiedTypeName(c.TypeInfo),
Identifier = NameMapper.GetConstantName(c.Identifier),
Value = c.Value
})
.ToList();
var data = new MessageTemplateData
{
Package = PackageTemplateData,
RosTypeName = NameMapper.GetRosTypeName(rosType.TypeName, messageType),
RosAbstractTypeName = rosType.TypeName,
TypeName = NameMapper.GetTypeName(rosType.TypeName, messageType),
AbstractTypeName = NameMapper.GetTypeName(rosType.TypeName, DetailedRosMessageType.None),
Fields = fields,
Constants = constants,
MessageType = new MessageTypeTemplateData(messageType)
};
return(data);
}
