/// <summary>
/// Get an Int64 value from an area description metadata.
/// </summary>
/// <returns><c>true</c>, if an Int64 value was found, <c>false</c> otherwise.</returns>
/// <param name="rawMetadata">Area description metadata pointer.</param>
/// <param name="key">Key name.</param>
/// <param name="value">Output value for the specified key.</param>
private static bool _MetadataGetInt64(IntPtr rawMetadata, string key, out Int64 value)
{
value = 0;
IntPtr rawValue = IntPtr.Zero;
uint rawValueSize = 0;
if (AreaDescriptionAPI.TangoAreaDescriptionMetadata_get(rawMetadata, key, ref rawValueSize, ref rawValue)
!= Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(string.Format("key={0} Unable to get metadata value.\n" + Environment.StackTrace,
key));
return(false);
}
if (rawValueSize != INT64_BYTE_COUNT)
{
// Unexpected size change
Debug.Log(string.Format("key={0} Unexpected byte size {1}.\n" + Environment.StackTrace,
key, rawValueSize));
return(false);
}
value = Marshal.ReadInt64(rawValue);
return(true);
}
/// <summary>
/// Get a fixed-size double array from an area description metadata.
/// </summary>
/// <returns><c>true</c>, if a double array of the specified size was found, <c>false</c> otherwise.</returns>
/// <param name="rawMetadata">Area description metadata pointer.</param>
/// <param name="key">Key name.</param>
/// <param name="expectedCount">Expected size of the array.</param>
/// <param name="value">Output value for the specified key.</param>
private static bool _MetadataGetDoubleArray(IntPtr rawMetadata, string key, int expectedCount,
out double[] value)
{
value = new double[expectedCount];
IntPtr rawValue = IntPtr.Zero;
uint rawValueSize = 0;
if (AreaDescriptionAPI.TangoAreaDescriptionMetadata_get(rawMetadata, key, ref rawValueSize, ref rawValue)
!= Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(string.Format("key={0} Unable to get metadata value.\n" + Environment.StackTrace,
value));
return(false);
}
if (rawValueSize != DOUBLE_BYTE_COUNT * expectedCount)
{
// Unexpected size change
Debug.Log(string.Format("key={0} Unexpected byte size {1}.\n" + Environment.StackTrace,
key, rawValueSize));
return(false);
}
Marshal.Copy(rawValue, value, 0, expectedCount);
return(true);
}
/// <summary>
/// Get a string value from an area description metadata.
/// </summary>
/// <returns><c>true</c>, if a string value was found, <c>false</c> otherwise.</returns>
/// <param name="rawMetadata">Area description metadata pointer.</param>
/// <param name="key">Key name.</param>
/// <param name="value">Output value for the specified key.</param>
private static bool _MetadataGetString(IntPtr rawMetadata, string key, out string value)
{
value = String.Empty;
IntPtr rawValue = IntPtr.Zero;
uint rawValueSize = 0;
if (AreaDescriptionAPI.TangoAreaDescriptionMetadata_get(rawMetadata, key, ref rawValueSize, ref rawValue)
!= Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(string.Format("key={0} Unable to get metadata value.\n" + Environment.StackTrace,
key));
return(false);
}
byte[] rawValueArray = new byte[rawValueSize];
Marshal.Copy(rawValue, rawValueArray, 0, (int)rawValueSize);
try
{
value = Encoding.UTF8.GetString(rawValueArray);
}
catch (Exception e)
{
Debug.Log(string.Format("key={0} Error during UTF-8 decoding {1}.\n" + Environment.StackTrace,
key, e.Message));
return(false);
}
return(true);
}