public override string GetTypeName(string rosTypeName, DetailedRosMessageType messageType)
{
if (!messageType.HasFlag(DetailedRosMessageType.Service))
{
return(base.GetTypeName(rosTypeName, messageType));
}
var baseName = base.GetTypeName(rosTypeName);
switch (messageType)
{
case DetailedRosMessageType.ServiceRequest:
return(baseName + ".Request");
case DetailedRosMessageType.ServiceResponse:
return(baseName + ".Response");
case DetailedRosMessageType.Service:
return(baseName);
default:
throw new NotSupportedException($"MessageType {messageType} is not supported");
}
}
public virtual string GetRosTypeName(string rosTypeName, DetailedRosMessageType messageType)
{
switch (messageType)
{
case DetailedRosMessageType.None:
case DetailedRosMessageType.Message:
case DetailedRosMessageType.Service:
return(rosTypeName);
case DetailedRosMessageType.ActionGoal:
return(rosTypeName + "Goal");
case DetailedRosMessageType.ActionResult:
return(rosTypeName + "Result");
case DetailedRosMessageType.ActionFeedback:
return(rosTypeName + "Feedback");
case DetailedRosMessageType.ServiceRequest:
return(rosTypeName + "Request");
case DetailedRosMessageType.ServiceResponse:
return(rosTypeName + "Response");
default:
throw new NotSupportedException($"Message type {messageType} is not supported.");
}
}
public override string GetRosTypeName(string rosTypeName, DetailedRosMessageType messageType)
{
switch (messageType)
{
case DetailedRosMessageType.ServiceRequest:
return(rosTypeName + "__Request");
case DetailedRosMessageType.ServiceResponse:
return(rosTypeName + "__Response");
default:
return(base.GetRosTypeName(rosTypeName, messageType));
}
}
public virtual string GetTypeName(string rosTypeName, DetailedRosMessageType messageType)
{
if (rosTypeName == null)
{
throw new ArgumentNullException(nameof(rosTypeName));
}
var typeName = rosTypeName.Trim();
switch (messageType)
{
case DetailedRosMessageType.ActionGoal:
typeName += "Goal";
break;
case DetailedRosMessageType.ActionResult:
typeName += "Result";
break;
case DetailedRosMessageType.ActionFeedback:
typeName += "Feedback";
break;
case DetailedRosMessageType.ServiceRequest:
typeName += "Request";
break;
case DetailedRosMessageType.ServiceResponse:
typeName += "Response";
break;
}
if (typeName.Length > 0)
{
typeName = typeName.First().ToString().ToUpper() + typeName.Substring(1);
}
return(typeName);
}
private void WriteMessageInternal(RosTypeInfo rosType, DetailedRosMessageType messageType, MessageDescriptor message)
{
if (messageType == DetailedRosMessageType.None ||
messageType == DetailedRosMessageType.Action ||
messageType == DetailedRosMessageType.Service)
{
throw new ArgumentException($"message type is not detailed enough", nameof(messageType));
}
if (NameMapper.IsBuiltInType(rosType))
{
return;
}
var data = GetMessageTemplateData(rosType, messageType, message);
SanitizeMessageTemplateData(data);
var filePath = _directories.TempDirectory.GetFilePath($"{data.TypeName}.cs");
var content = _templateEngine.Format(MessageTemplateFile, data);
WriteFile(filePath, content);
}
public MessageTypeTemplateData(DetailedRosMessageType messageType)
{
_messageType = messageType;
}
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);
}