public void TestTransformStampedMessage()
{
Assert.True(BuiltIns.GetMessageType <MyTransformStamped>() == MyTransformStamped.RosMessageType);
Assert.True(BuiltIns.GetMd5Sum <MyTransformStamped>() == BuiltIns.GetMd5Sum <TransformStamped>());
time now = time.Now();
TransformStamped real = new TransformStamped()
{
Header = new Header(1, now, "Frame"),
ChildFrameId = "Abcd",
Transform = Transform.Identity
};
MyTransformStamped wrapped = new MyTransformStamped()
{
Header = new Header(1, now, "Frame"),
ChildFrameId = "Abcd",
Transform = Transform.Identity
};
byte[] messageBytes = real.SerializeToArray();
byte[] otherMessageBytes = wrapped.SerializeToArray();
Assert.True(messageBytes.SequenceEqual(otherMessageBytes));
var otherWrapped = wrapped.DeserializeFromArray(messageBytes);
Assert.True(wrapped.Header == real.Header);
Assert.True(wrapped.ChildFrameId == real.ChildFrameId);
Assert.True(wrapped.Transform == real.Transform);
}
public TopicInfo(string callerId, string topic, IDeserializable <T> generator)
: this(
BuiltIns.DecompressDependencies(generator.GetType()),
callerId, topic,
BuiltIns.GetMd5Sum(generator.GetType()),
BuiltIns.GetMessageType(generator.GetType()),
generator
)
{
}
public TopicInfo(string callerId, string topic)
: this(
BuiltIns.DecompressDependencies <T>(),
callerId, topic,
BuiltIns.GetMd5Sum <T>(),
BuiltIns.GetMessageType <T>(),
null
)
{
}
public Sender([NotNull] string topic)
{
if (string.IsNullOrWhiteSpace(topic))
{
throw new ArgumentException("Invalid topic!", nameof(topic));
}
Topic = topic;
Type = BuiltIns.GetMessageType(typeof(T));
Logger.Info($"Advertising <b>{topic}</b> <i>[{Type}]</i>.");
GameThread.EverySecond += UpdateStats;
Connection.Advertise(this);
}
public void TestInteractiveMarkerMessage()
{
Assert.True(BuiltIns.GetMessageType(typeof(MyInteractiveMarker)) == MyInteractiveMarker.RosMessageType);
Console.WriteLine(MyInteractiveMarker.RosDefinition);
Assert.True(
BuiltIns.GetMd5Sum(typeof(MyInteractiveMarker)) == BuiltIns.GetMd5Sum(typeof(InteractiveMarker)));
time now = time.Now();
var real = new InteractiveMarker()
{
Pose = Pose.Identity,
Name = "Abcd",
Description = "Efgh",
MenuEntries = new MenuEntry[] { new(), new() },
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);
}