public object ReadBuiltInType(RosType rosType, Type destinationType)
{
var type = BuiltInRosTypes.GetSerializationType(rosType);
var value = ReadBuiltInType(type);
if (type == destinationType)
{
return(value);
}
if (destinationType.IsEnum)
{
if (type == typeof(string))
{
value = Enum.Parse(destinationType, (string)value);
}
else
{
value = Enum.ToObject(destinationType, value);
}
return(value);
}
value = Convert.ChangeType(value, destinationType);
return(value);
}
public void WriteBuiltInType(RosType rosType, object value)
{
var type = BuiltInRosTypes.GetSerializationType(rosType);
if (value != null)
{
var valueType = value.GetType();
if (valueType != type)
{
value = Convert.ChangeType(value, type);
}
}
WriteBuiltInType(type, value);
}
