public Variable GetVariable(Compiler.Scope scope)
{
if (Initializers.TryGetValue(Type, out var compiler))
{
return(compiler.Invoke(Access.Private, Usage.Default, Name, scope, scope.DeclaringMethod.ScriptTrace));
}
else
{
throw new Compiler.SyntaxException($"Unknown type '{Type}'.", Compiler.CurrentScriptTrace);
}
}
public RosSerializableDefinition()
{
try
{
RosType = typeof(IMessage).IsAssignableFrom(typeof(T))
? BuiltIns.GetMessageType(typeof(T))
: "";
}
catch (RosInvalidMessageException)
{
throw new RosIncompleteWrapperException(
$"Type '{typeof(T).Name}' must have a string constant named RosMessageType. " +
"It should also be tagged with the attribute [MessageName].");
}
var bi = new BuilderInfo();
foreach (var field in typeof(T).GetFields())
{
if (field.IsStatic && field.IsLiteral && !field.IsInitOnly &&
RosWrapperBase.BuiltInNames.TryGetValue(field.FieldType, out string?fieldType) &&
field.GetCustomAttribute <MessageNameAttribute>() == null)
{
InitializeConstant(bi, field, fieldType);
}
}
foreach (var property in typeof(T).GetProperties())
{
if (property.GetSetMethod() == null &&
!(property.GetType().IsGenericType&&
property.GetType().GetGenericTypeDefinition() != typeof(List <>)))
{
continue;
}
if (property.GetGetMethod() == null ||
property.GetCustomAttribute <IgnoreDataMemberAttribute>() != null)
{
continue;
}
Type propertyType = property.PropertyType;
if (Initializers.TryGetValue(propertyType, out var initializer))
{
initializer(property, bi);
}
else if (propertyType.IsArray)
{
var elementType = propertyType.GetElementType() !;
if (elementType.IsEnum)
{
InitializeEnumArrayProperty(property, bi);
}
else if (typeof(IMessage).IsAssignableFrom(elementType))
{
InitializeMessageArrayProperty(property, bi);
}
}
else if (propertyType.IsEnum)
{
InitializeEnumProperty(property, bi);
}
else if (typeof(IMessage).IsAssignableFrom(propertyType))
{
InitializeMessageProperty(property, bi);
}
}
RosDefinition = bi.RosDefinition.ToString();
messageFields = bi.Fields.ToArray();
(RosInputForMd5, RosMessageMd5) = CreateMd5(bi);
RosDependencies = CreateDependencies(RosDefinition);
}
