private object DeserializeValue(SerializationContext context, RosBinaryReader reader, RosType rosType,
Type type)
{
if (rosType.IsBuiltIn)
{
return(reader.ReadBuiltInType(rosType, type));
}
else
{
var typeInfo = context.MessageTypeRegistry.GetOrCreateMessageTypeInfo(type);
IRosMessageFormatter formatter = this;
// If this serializer cannot serialize the object search for serializer who can do it
if (!CanSerialize(typeInfo))
{
formatter = context.MessageFormatters.FindFormatterFor(typeInfo);
if (formatter == null)
{
throw new NotSupportedException($"No formatter for message {typeInfo} found.");
}
}
return(formatter.Deserialize(context, reader, typeInfo));
}
}
public object Deserialize(SerializationContext context, RosBinaryReader reader,
IRosMessageTypeInfo messageTypeInfo)
{
if (context == null)
{
throw new ArgumentNullException(nameof(context));
}
if (messageTypeInfo == null)
{
throw new ArgumentNullException(nameof(messageTypeInfo));
}
if (!(messageTypeInfo is DescriptorBasedMessageTypeInfo messageInfo))
{
throw new NotSupportedException();
}
var result = Activator.CreateInstance(messageInfo.Type);
var fields = messageInfo.MessageDescriptor.Fields;
foreach (var field in fields)
{
try
{
object fieldValue;
if (field.RosType.IsArray)
{
fieldValue = DeserializeArray(context, reader, field.RosType, field.Type);
}
else
{
fieldValue = DeserializeValue(context, reader, field.RosType, field.Type);
}
field.SetValue(result, fieldValue);
}
catch (Exception e)
{
if (e is RosFieldSerializationException rosException)
{
rosException.AddLeadingRosIdentifier(field.RosIdentifier);
throw;
}
else
{
throw new RosFieldSerializationException(RosFieldSerializationException.SerializationOperation.Deserialize, field.RosIdentifier, e);
}
}
}
return(result);
}
public object Deserialize(Type messageType, Stream input)
{
if (messageType == null)
{
throw new ArgumentNullException(nameof(messageType));
}
if (input == null)
{
throw new ArgumentNullException(nameof(input));
}
var messageTypeInfo = MessageTypeRegistry.GetOrCreateMessageTypeInfo(messageType);
var formatter = GetFormatter(messageTypeInfo);
var context = new SerializationContext(input, MessageFormatters, MessageTypeRegistry);
var reader = new RosBinaryReader(input);
return(formatter.Deserialize(context, reader, messageTypeInfo));
}
private object DeserializeArray(SerializationContext context, RosBinaryReader reader, RosType rosType,
Type memberType)
{
int length;
if (rosType.IsFixedSizeArray)
{
length = rosType.ArraySize;
}
else
{
length = reader.ReadInt32();
}
var elementType = GetGenericElementType(memberType);
var listType = typeof(List <>).MakeGenericType(elementType);
var list = (IList)Activator.CreateInstance(listType);
for (var i = 0; i < length; i++)
{
try
{
var item = DeserializeValue(context, reader, rosType, elementType);
list.Add(item);
}
catch (Exception e)
{
var indexString = $"[{i}]";
if (e is RosFieldSerializationException rosException)
{
rosException.AddLeadingRosIdentifier(indexString);
throw;
}
else
{
throw new RosFieldSerializationException(RosFieldSerializationException.SerializationOperation.Deserialize, indexString, e);
}
}
}
return(ConvertListToMemberType(list, memberType));
}