private TypeRegistry InitTypeRegistry(Type contextType, params Type[] parents)
{
var t = new TypeRegistry();
t.RegisterType("ViewModel", contextType);
t.RegisterType("RootViewModel", parents.LastOrDefault() ?? contextType);
t.RegisterType("Enumerable", typeof(Enumerable));
for (int i = parents.Length - 1; i >= 0; i--)
{
if (!t.ContainsKey(parents[i].Name))
t.RegisterType(parents[i].Name, parents[i]);
}
if (!t.ContainsKey(contextType.Name))
t.RegisterType(contextType.Name, contextType);
return t;
}
public void ParseAssemblyAndRegisterRosServices(Assembly assembly)
{
foreach (Type type in assembly.GetTypes())
{
var typeInfo = type.GetTypeInfo();
if (type == typeof(RosService) || !typeInfo.IsSubclassOf(typeof(RosService)))
{
continue;
}
RosService service = Activator.CreateInstance(type) as RosService;
if (service.ServiceType == "undefined/unknown")
{
throw new Exception("Invalid servive type. Service type field (srvtype) was not initialized correctly.");
}
var packageName = service.ServiceType.Split('/')[0];
if (!PackageNames.Contains(packageName))
{
PackageNames.Add(packageName);
}
Logger.LogDebug($"Register {service.ServiceType}");
if (!TypeRegistry.ContainsKey(service.ServiceType))
{
TypeRegistry.Add(service.ServiceType, service.GetType());
}
}
}
static Device()
{
TypeRegistry registry = ValueExpressionParser.DefaultTypeRegistry;
// Use a proxy global settings reference, as required by Device model,
// if TSL host application has not already defined one. This is
// commonly only defined when host has a self-hosted web interface.
if (!registry.ContainsKey("Global"))
{
registry.RegisterSymbol("Global", new GlobalSettings());
}
}
/// <summary>
/// Gets the registered types that inherit or implement the given base type.
/// </summary>
/// <param name="baseType">Type of which to get the children or implementors.</param>
/// <returns>An IEnumerable of types that inherit or implement the given base type.</returns>
/// <exception cref="ArgumentNullException">Thrown if <paramref name="baseType"/> is null</exception>
public IEnumerable <TypeInfo> GetRegisteredTypes(TypeInfo baseType)
{
if (baseType == null)
{
throw new ArgumentNullException(nameof(baseType));
}
if (TypeRegistry.ContainsKey(baseType))
{
return(TypeRegistry[baseType]);
}
else
{
return(Enumerable.Empty <TypeInfo>());
}
}
/// <summary>
/// Adds the given type to the type registry.
/// </summary>
/// <param name="type">Type of the type register.</param>
/// <remarks>
/// After plugins are loaded, any type that inherits or implements the given Type can be easily found.
/// If the type is already in the type registry, nothing will be done.
/// </remarks>
/// <exception cref="ArgumentNullException">Thrown if <paramref name="type"/> is null.</exception>
public void RegisterTypeRegister(TypeInfo type)
{
if (type == null)
{
throw new ArgumentNullException(nameof(type));
}
if (!TypeRegistry.ContainsKey(type))
{
TypeRegistry.Add(type, new List <TypeInfo>());
// Add the type to its own registry.
// The function will only add it if an instance can be created.
// This will happen automatically if assembly searching is enabled,
// but it needs to happen now to avoid issues where it doesn't exist until later, despite some things expecting it now.
RegisterType(type, type);
}
}
public void ParseAssemblyAndRegisterRosMessages(Assembly assembly)
{
foreach (Type othertype in assembly.GetTypes())
{
var messageInfo = othertype.GetTypeInfo();
if (othertype == typeof(RosMessage) || !messageInfo.IsSubclassOf(typeof(RosMessage)) || othertype == typeof(InnerActionMessage))
{
continue;
}
var goalAttribute = messageInfo.GetCustomAttribute <ActionGoalMessageAttribute>();
var resultAttribute = messageInfo.GetCustomAttribute <ActionResultMessageAttribute>();
var feedbackAttribute = messageInfo.GetCustomAttribute <ActionFeedbackMessageAttribute>();
var ignoreAttribute = messageInfo.GetCustomAttribute <IgnoreRosMessageAttribute>();
RosMessage message;
if (goalAttribute != null || resultAttribute != null || feedbackAttribute != null || ignoreAttribute != null)
{
Type actionType;
if (goalAttribute != null)
{
actionType = typeof(GoalActionMessage <>);
}
else if (resultAttribute != null)
{
actionType = typeof(ResultActionMessage <>);
}
else if (feedbackAttribute != null)
{
actionType = typeof(FeedbackActionMessage <>);
}
else if (ignoreAttribute != null)
{
continue;
}
else
{
throw new InvalidOperationException($"Could create Action Message for {othertype}");
}
Type[] innerType = { othertype };
var goalMessageType = actionType.MakeGenericType(innerType);
message = (Activator.CreateInstance(goalMessageType)) as RosMessage;
}
else
{
message = Activator.CreateInstance(othertype) as RosMessage;
if ((message != null) && (message.MessageType == "undefined/unknown"))
{
throw new Exception("Invalid message type. Message type field (msgtype) was not initialized correctly.");
}
}
var packageName = message.MessageType.Split('/')[0];
if (!PackageNames.Contains(packageName))
{
PackageNames.Add(packageName);
}
Logger.LogDebug($"Register {message.MessageType}");
if (!TypeRegistry.ContainsKey(message.MessageType))
{
TypeRegistry.Add(message.MessageType, message.GetType());
}
else
{
var messageFromRegistry = CreateMessage(message.MessageType);
if (messageFromRegistry.MD5Sum() != message.MD5Sum())
{
throw new InvalidOperationException($"The message of type {message.MessageType} has already been " +
$"registered and the MD5 sums do not match. Already registered: {messageFromRegistry.MD5Sum()} " +
$"new message: {message.MD5Sum()}.");
}
else
{
Logger.LogDebug($"The message of type {message.MessageType} has already been registered. Since the" +
"MD5 sums do match, the new message is ignored.");
}
}
}
}