public CustomType(Type type, byte bSign, SerializeFunc serializeFunc, DeserializeFunc deserializeFunc)
{
this.type = type;
this.bSign = bSign;
this.serializeFunc = serializeFunc;
this.deserializeFunc = deserializeFunc;
}
private void CheckSerializers <T>(
T value,
T expectedDeserializeValue,
int expectedSerializeSize,
int?reportedSerializeSize,
CalculateSizeFunc <T> calculateSizeFunc,
SerializeFunc <T> serializeFunc,
DeserializeFunc <T> deserializeFunc
) where
T : struct
{
if (reportedSerializeSize != null)
{
Assert.Equal(expectedSerializeSize, reportedSerializeSize);
}
Assert.Equal(expectedSerializeSize, calculateSizeFunc(value));
byte[] output1 = new byte[expectedSerializeSize];
Span <byte> outputItr1 = BitSerializer.Serialize(output1, value);
Assert.Equal(0, outputItr1.Length);
byte[] output2 = new byte[expectedSerializeSize];
Span <byte> outputItr2 = BitSerializer <T> .Serialize(output2, value);
Assert.Equal(0, outputItr2.Length);
byte[] output3 = new byte[expectedSerializeSize];
Span <byte> outputItr3 = serializeFunc(output3, value);
Assert.Equal(0, outputItr3.Length);
Assert.Equal(output1, output2);
Assert.Equal(output1, output3);
T value1;
ReadOnlySpan <byte> inputItr1 = BitSerializer.Deserialize(output1, out value1);
Assert.Equal(0, inputItr1.Length);
T value2;
ReadOnlySpan <byte> inputItr2 = BitSerializer <T> .Deserialize(output2, out value2);
Assert.Equal(0, inputItr2.Length);
T value3;
ReadOnlySpan <byte> inputItr3 = deserializeFunc(output3, out value3);
Assert.Equal(0, inputItr3.Length);
expectedDeserializeValue.ShouldCompare(value1);
expectedDeserializeValue.ShouldCompare(value2);
expectedDeserializeValue.ShouldCompare(value3);
}
public void publish(string topic, SerializeFunc serfunc, IRosMessage msg)
{
if (msg == null)
{
return;
}
lock (advertised_topics_mutex)
{
Publication p;
if ((p = lookupPublicationWithoutLock(topic)) == null || !ROS.ok || shutting_down)
{
return;
}
p.connection_header = new Header {
Values = new Hashtable()
};
p.connection_header.Values["type"] = p.DataType;
p.connection_header.Values["md5sum"] = p.Md5sum;
p.connection_header.Values["message_definition"] = p.MessageDefinition;
p.connection_header.Values["callerid"] = this_node.Name;
p.connection_header.Values["latching"] = p.Latch;
if (p == null)
{
return;
}
if (p.HasSubscribers || p.Latch)
{
bool nocopy = false;
bool serialize = false;
if (msg != null && msg.msgtype != MsgTypes.Unknown)
{
p.getPublishTypes(ref serialize, ref nocopy, ref msg.msgtype);
}
else
{
serialize = true;
}
msg.Serialized = serfunc();
p.publish(msg);
if (serialize)
{
PollManager.Instance.poll_set.signal();
}
}
else
{
p.incrementSequence();
}
}
}
private void CheckSerializers <T>(
T value,
int expectedSerializeSize,
int?reportedSerializeSize,
CalculateSizeFunc <T> calculateSizeFunc,
SerializeFunc <T> serializeFunc,
DeserializeFunc <T> deserializeFunc
) where
T : struct
{
CheckSerializers(value, value, expectedSerializeSize, reportedSerializeSize, calculateSizeFunc, serializeFunc, deserializeFunc);
}
public void publish(Publication p, RosMessage msg, SerializeFunc serfunc = null)
{
if (msg == null)
{
return;
}
if (serfunc == null)
{
serfunc = msg.Serialize;
}
if (p.connection_header == null)
{
p.connection_header = new Header {
Values = new Dictionary <string, string>()
};
p.connection_header.Values["type"] = p.DataType;
p.connection_header.Values["md5sum"] = p.Md5sum;
p.connection_header.Values["message_definition"] = p.MessageDefinition;
p.connection_header.Values["callerid"] = ThisNode.Name;
p.connection_header.Values["latching"] = Convert.ToString(p.Latch);
}
if (!ROS.ok || shuttingDown)
{
return;
}
if (p.HasSubscribers || p.Latch)
{
bool nocopy = false;
bool serialize = false;
if (msg != null && msg.MessageType != "undefined/unknown")
{
p.getPublishTypes(ref serialize, ref nocopy, msg.MessageType);
}
else
{
serialize = true;
}
p.publish(new MessageAndSerializerFunc(msg, serfunc, serialize, nocopy));
if (serialize)
{
PollManager.Instance.poll_set.ContinueThreads();
}
}
else
{
p.incrementSequence();
}
}
public void publish(Publication p, IRosMessage msg, SerializeFunc serfunc = null)
{
if (msg == null)
{
return;
}
if (serfunc == null)
{
serfunc = msg.Serialize;
}
if (p.connection_header == null)
{
p.connection_header = new Header {
Values = new Hashtable()
};
p.connection_header.Values["type"] = p.DataType;
p.connection_header.Values["md5sum"] = p.Md5sum;
p.connection_header.Values["message_definition"] = p.MessageDefinition;
p.connection_header.Values["callerid"] = this_node.Name;
p.connection_header.Values["latching"] = p.Latch;
}
if (!ROS.ok || shutting_down)
{
return;
}
if (p.HasSubscribers || p.Latch)
{
bool nocopy = false;
bool serialize = false;
if (msg != null && msg.msgtype() != MsgTypes.Unknown)
{
p.getPublishTypes(ref serialize, ref nocopy, msg.msgtype());
}
else
{
serialize = true;
}
p.publish(new MessageAndSerializerFunc(msg, serfunc, serialize, nocopy));
if (serialize)
{
PollManager.Instance.poll_set.signal();
}
}
else
{
p.incrementSequence();
}
}
public void Publish(Publication p, RosMessage msg, SerializeFunc serfunc = null)
{
if (msg == null)
{
return;
}
if (serfunc == null)
{
serfunc = msg.Serialize;
}
if (p.connectionHeader == null)
{
var fields = new Dictionary <string, string>()
{
["type"] = p.DataType,
["md5sum"] = p.Md5Sum,
["message_definition"] = p.MessageDefinition,
["callerid"] = ThisNode.Name,
["latching"] = p.Latch ? "1" : "0"
};
p.connectionHeader = new Header(fields);
}
if (!ROS.OK || shuttingDown)
{
return;
}
if (p.HasSubscribers || p.Latch)
{
bool nocopy = false;
bool serialize = false;
if (msg != null && msg.MessageType != "undefined/unknown")
{
p.GetPublishTypes(ref serialize, ref nocopy, msg.MessageType);
}
else
{
serialize = true;
}
p.Publish(new MessageAndSerializerFunc(msg, serfunc, serialize, nocopy));
}
else
{
p.IncrementSequence();
}
}
public static bool ExtendCustomType(Type type, byte bSign, SerializeFunc serializeFunc, DeserializeFunc deserializeFunc)
{
if (!CheckNativeTypes(bSign))
{
return(false);
}
if (!BinBuffer.ExtendCustomType(type, bSign, serializeFunc))
{
return(false);
}
if (!BinParser.ExtendCustomType(type, bSign, deserializeFunc))
{
return(false);
}
return(true);
}
public static bool ExtendCustomType(Type type, byte bSign, SerializeFunc func)
{
customTypeExtends[type] = new CustomType(type, bSign, func, null);
return(true);
}