public static IVisualFactory GetVisualFactory(string topic, string rosMessageName = null, MessageSubtopic subtopic = MessageSubtopic.Default)
{
PrioritizedList <IVisualFactory> result;
Dictionary <string, PrioritizedList <IVisualFactory> > topicsTable = (subtopic != MessageSubtopic.Response) ? s_TopicVisualFactories : s_TopicResponseVisualFactories;
topicsTable.TryGetValue(topic, out result);
if (result != null)
{
return(result.Best);
}
if (rosMessageName != null)
{
Dictionary <string, PrioritizedList <IVisualFactory> > typesTable = (subtopic != MessageSubtopic.Response) ? s_TypeVisualFactories : s_TypeResponseVisualFactories;
typesTable.TryGetValue(rosMessageName, out result);
if (result != null)
{
return(result.Best);
}
if (MessageRegistry.GetDeserializeFunction(rosMessageName) != null)
{
return((subtopic != MessageSubtopic.Response) ? s_DefaultVisualFactory : s_DefaultResponseVisualFactory);
}
}
return(null);
}
Message Deserialize(byte[] data)
{
if (m_Deserializer == null)
{
m_Deserializer = MessageRegistry.GetDeserializeFunction(m_RosMessageName, m_Subtopic);
}
m_ConnectionInternal.Deserializer.InitWithBuffer(data);
return(m_Deserializer(m_ConnectionInternal.Deserializer));
}
public void RegisterAndGet_OneMessage_ReturnsMessageNameAndDeserialize()
{
const string rosMessageName = "testmessage";
Func <MessageDeserializer, TestMessage> deserializer = des => new TestMessage();
MessageRegistry.Register(rosMessageName, deserializer);
Assert.AreEqual(rosMessageName, MessageRegistry.GetRosMessageName <TestMessage>());
Assert.AreEqual(deserializer, MessageRegistry.GetDeserializeFunction <TestMessage>());
Assert.AreEqual(deserializer, MessageRegistry.GetDeserializeFunction(rosMessageName));
}
public static IEnumerable <IVisualFactory> GetAllVisualFactories(string topic, string rosMessageName)
{
PrioritizedList <IVisualFactory> result;
IEnumerable <IVisualFactory> topicVisualizers = null;
if (topic != null)
{
s_TopicVisualFactories.TryGetValue(topic, out result);
if (result != null)
{
topicVisualizers = result.All;
}
}
IEnumerable <IVisualFactory> typeVisualizers = null;
if (rosMessageName != null)
{
s_TypeVisualFactories.TryGetValue(rosMessageName, out result);
if (result != null)
{
typeVisualizers = result.All;
}
else if (MessageRegistry.GetDeserializeFunction(rosMessageName) != null)
{
typeVisualizers = new IVisualFactory[] { s_DefaultVisualFactory }
}
;
}
if (topicVisualizers == null)
{
return(typeVisualizers);
}
if (typeVisualizers != null)
{
return(topicVisualizers.Concat(typeVisualizers));
}
else
{
return(topicVisualizers);
}
}
}
public void RegisterAndGet_Subtopics_ReturnCorrectDeserializers()
{
const string rosMessageName = "testmessage";
Func <MessageDeserializer, TestMessage> deserializer = des => new TestMessage();
Func <MessageDeserializer, TestResponse> deserializer2 = des => new TestResponse();
MessageRegistry.Register(rosMessageName, deserializer, MessageSubtopic.Default);
MessageRegistry.Register(rosMessageName, deserializer2, MessageSubtopic.Response);
Assert.AreEqual(rosMessageName, MessageRegistry.GetRosMessageName <TestMessage>());
Assert.AreEqual(rosMessageName, MessageRegistry.GetRosMessageName <TestResponse>());
Assert.AreEqual(MessageSubtopic.Default, MessageRegistry.GetSubtopic <TestMessage>());
Assert.AreEqual(MessageSubtopic.Response, MessageRegistry.GetSubtopic <TestResponse>());
Assert.AreEqual(deserializer, MessageRegistry.GetDeserializeFunction <TestMessage>());
Assert.AreEqual(deserializer, MessageRegistry.GetDeserializeFunction(rosMessageName, MessageSubtopic.Default));
Assert.AreEqual(deserializer2, MessageRegistry.GetDeserializeFunction <TestResponse>());
Assert.AreEqual(deserializer2, MessageRegistry.GetDeserializeFunction(rosMessageName, MessageSubtopic.Response));
Assert.IsNull(MessageRegistry.GetDeserializeFunction(rosMessageName, MessageSubtopic.Goal));
}
