public static string Sum(SrvTypes m)
{
if (!srvmd5memo.ContainsKey(m))
{
IRosService irm = IRosService.generate(m);
string req = PrepareToHash(irm.RequestMessage);
string res = PrepareToHash(irm.ResponseMessage);
srvmd5memo.Add(m,Sum(req, res));
}
return srvmd5memo[m];
}
public void init(string service, ServiceFunction <MReq, MRes> callback)
{
this.service = service;
srv_func = callback;
helper = new ServiceCallbackHelper <MReq, MRes>(callback);
req_datatype = new MReq().msgtype.ToString().Replace("__", "/").Replace("/Request", "__Request");
res_datatype = new MRes().msgtype.ToString().Replace("__", "/").Replace("/Response", "__Response");
srvtype = (SrvTypes)Enum.Parse(typeof(SrvTypes), req_datatype.Replace("__Request", "").Replace("/", "__"));
datatype = srvtype.ToString().Replace("__", "/");
md5sum = IRosService.generate(srvtype).MD5Sum;
}
public static string Sum(SrvTypes m)
{
if (!srvmd5memo.ContainsKey(m))
{
IRosService irm = IRosService.generate(m);
string req = PrepareToHash(irm.RequestMessage);
string res = PrepareToHash(irm.ResponseMessage);
srvmd5memo.Add(m, Sum(req, res));
}
return(srvmd5memo[m]);
}
public static IRosService generate <RequestType> (SrvTypes t) where RequestType : IRosMessage
{
lock ( constructors )
{
if (constructors.ContainsKey(t))
{
return(constructors [t].Invoke(t));
}
Type thistype = typeof(IRosService);
foreach (Type othertype in Assembly.GetAssembly(typeof(RequestType)).GetTypes())
{
if (thistype == othertype || !othertype.IsSubclassOf(thistype) || othertype.IsAbstract || othertype.Name.Contains("Decorator"))
{
continue;
}
IRosService srv = Activator.CreateInstance(othertype) as IRosService;
if (srv != null)
{
if (srv.srvtype() == SrvTypes.Unknown)
{
throw new Exception("OH NOES IRosService.generate is borked!");
}
if (!_typeregistry.ContainsKey(srv.srvtype()))
{
_typeregistry.Add(srv.srvtype(), srv.GetType());
}
if (!constructors.ContainsKey(srv.srvtype()))
{
constructors.Add(srv.srvtype(), T => Activator.CreateInstance(_typeregistry [T]) as IRosService);
}
srv.RequestMessage = IRosMessage.generate <RequestType> ((MsgTypes)Enum.Parse(typeof(MsgTypes), srv.srvtype().ToString() + "__Request"));
srv.ResponseMessage = IRosMessage.generate <RequestType> ((MsgTypes)Enum.Parse(typeof(MsgTypes), srv.srvtype().ToString() + "__Response"));
}
}
if (constructors.ContainsKey(t))
{
return(constructors [t].Invoke(t));
}
else
{
throw new Exception("OH NOES IRosService.generate is borked!");
}
}
}
public static IRosService generate(SrvTypes t)
{
if (constructors.ContainsKey(t))
{
return(constructors[t].Invoke(t));
}
Type thistype = typeof(IRosService);
foreach (Type othertype in thistype.Assembly.GetTypes())
{
if (thistype == othertype || !othertype.IsSubclassOf(thistype))
{
continue;
}
IRosService srv = Activator.CreateInstance(othertype) as IRosService;
if (srv != null)
{
if (srv.srvtype == SrvTypes.Unknown)
{
throw new Exception("OH NOES IRosMessage.generate is borked!");
}
if (!_typeregistry.ContainsKey(srv.srvtype))
{
_typeregistry.Add(srv.srvtype, srv.GetType());
}
if (!constructors.ContainsKey(srv.srvtype))
{
constructors.Add(srv.srvtype, T => Activator.CreateInstance(_typeregistry[T]) as IRosService);
}
}
}
if (constructors.ContainsKey(t))
{
return(constructors[t].Invoke(t));
}
else
{
throw new Exception("OH NOES IRosMessage.generate is borked!");
}
}
public static IRosService generate(SrvTypes t)
{
lock (constructors)
{
if (constructors.ContainsKey(t))
return constructors[t].Invoke(t);
Type thistype = typeof (IRosService);
foreach (Type othertype in thistype.Assembly.GetTypes())
{
if (thistype == othertype || !othertype.IsSubclassOf(thistype))
{
continue;
}
IRosService srv = Activator.CreateInstance(othertype) as IRosService;
if (srv != null)
{
if (srv.srvtype() == SrvTypes.Unknown)
throw new Exception("OH NOES IRosService.generate is borked!");
if (!_typeregistry.ContainsKey(srv.srvtype()))
_typeregistry.Add(srv.srvtype(), srv.GetType());
if (!constructors.ContainsKey(srv.srvtype()))
constructors.Add(srv.srvtype(), T => Activator.CreateInstance(_typeregistry[T]) as IRosService);
srv.RequestMessage = IRosMessage.generate((MsgTypes) Enum.Parse(typeof (MsgTypes), srv.srvtype() + "__Request"));
srv.ResponseMessage = IRosMessage.generate((MsgTypes) Enum.Parse(typeof (MsgTypes), srv.srvtype() + "__Response"));
}
}
if (constructors.ContainsKey(t))
return constructors[t].Invoke(t);
else
throw new Exception("OH NOES IRosService.generate is borked!");
}
}
public IRosService(SrvTypes t, string def, string md5)
{
srvtype = t;
ServiceDefinition = def;
MD5Sum = md5;
}
public IRosService(SrvTypes t, string def, string md5)
{
srvtype = t;
ServiceDefinition = def;
MD5Sum = md5;
}
