Example #1
0
        /// <summary>
        /// Parse the build in type and return the length of object in the bytes and record
        /// </summary>
        /// <param name="rawData"></param>
        /// <param name="type"></param>
        /// <param name="offset"></param>
        /// <returns></returns>
        private Tuple <int, dynamic> ParseBuildInTypes(byte[] rawData, string type, int offset = 0)
        {
            switch (type)
            {
            case "string":
                var len = (int)BitConverter.ToInt32(rawData, offset);
                return(new Tuple <int, dynamic>(len + 4, Encoding.UTF8.GetString(rawData, offset + 4, len)));

            case "bool":
                return(new Tuple <int, dynamic>(1, BitConverter.ToBoolean(rawData, offset)));

            case "int8":
                return(new Tuple <int, dynamic>(1, rawData[offset]));

            case "uint8":
                return(new Tuple <int, dynamic>(1, rawData[offset]));

            case "int16":
                return(new Tuple <int, dynamic>(2, BitConverter.ToInt16(rawData, offset)));

            case "uint16":
                return(new Tuple <int, dynamic>(2, BitConverter.ToUInt16(rawData, offset)));

            case "int32":
                return(new Tuple <int, dynamic>(4, BitConverter.ToInt32(rawData, offset)));

            case "uint32":
                return(new Tuple <int, dynamic>(4, BitConverter.ToUInt32(rawData, offset)));

            case "int64":
                return(new Tuple <int, dynamic>(8, BitConverter.ToInt64(rawData, offset)));

            case "uint64":
                return(new Tuple <int, dynamic>(8, BitConverter.ToUInt64(rawData, offset)));

            case "float32":
                return(new Tuple <int, dynamic>(4, BitConverter.ToSingle(rawData, offset)));

            case "float64":
                return(new Tuple <int, dynamic>(8, BitConverter.ToDouble(rawData, offset)));

            case "time":
                return(new Tuple <int, dynamic>(8, RosTime.FromRosBytes(rawData, offset)));

            case "duration":
                return(new Tuple <int, dynamic>(8, RosDuration.FromRosBytes(rawData, offset)));

            case "header":
            case "Header":
                var header = RosHeader.FromRosBytes(rawData, offset);
                return(new Tuple <int, dynamic>(header.HeaderByteSize, header));
            }
            return(null);
        }
 public static RosHeader FromRosBytes(byte[] headerBytes)
 {
     return(RosHeader.FromRosBytes(headerBytes, 0));
 }