private string serializeJointState(JointState js)
{
string topic = "\"topic\": \"/joint_states\", "; // platzhalter, topic vom RosMessage- objekt später holen
// Baue Header
string headerString = RosHeaderCoder_.serializeSingleHeader(js.header);
// Baue Velocityarray
double[] velocity = js.velocity;
string velocityString = RosArrayService_.baueDoubleWertArrayUm(velocity, "\"velocity\": ", false);
// Baue Effortarray
double[] effort = js.effort;
string effortString = RosArrayService_.baueDoubleWertArrayUm(effort, "\"effort\": ", false);
// Baue Namearray
string[] name = js.name;
string nameString = RosArrayService_.baueStringWertArrayUm(name, "\"name\": ", false);
// Baue Positionarray
double[] position = js.position;
string positionString = RosArrayService_.baueDoubleWertArrayUm(position, "\"position\": ", true);
// Einzelteile zusammenkleben und formatiert zurückgeben
return("\"{" + topic + "\"msg\": {" + headerString + velocityString + effortString + nameString + positionString + "}, \"op\": \"publish\"}\"");
}
private string serializeJointTrajectory(JointTrajectory jt)
{
//serialisiere Topic
string topic = "\"topic\": \"/preview_trajectory\", "; // platzhalter, topic vom RosMessage- objekt später holen
// serialisiere header
Header jtheader = jt.header;
string headerString = RosHeaderCoder_.serializeSingleHeader(jtheader);
//serialisiere joint_names
string[] jtjoint_names = jt.joint_names;
string joint_names_string = RosArrayService_.baueStringWertArrayUm(jtjoint_names, "\"joint_names\": ", false);
//serialisiere JoinTrajectoryPoints
JointTrajectoryPoint[] jtps = jt.points;
string points_string = "";
for (int i = 0; i < jtps.Length - 2; ++i)
{
points_string = points_string + RosJointTrajectoryPointCoder_.serializeSingleJointTrajectoryPoint(jtps[i]) + ", ";
}
points_string = points_string + RosJointTrajectoryPointCoder_.serializeSingleJointTrajectoryPoint(jtps[jtps.Length - 1]);
points_string = "\"points: \"[" + points_string + "]";
// Einzelteile zusammenkleben und formatiert zurückgeben
return("\"{" + topic + "\"msg\": {" + headerString + joint_names_string + points_string + "}, \"op\": \"publish\"}\"");
}
private RosPublish deserializeJointTrajectory(JsonObject jsonObject)
{
JsonArray jjoint_names = jsonObject["msg"].GetObject()["joint_names"].GetArray();
// baue den Header
Header header = RosHeaderCoder_.deserializeSingleHeader((JsonValue)jsonObject["msg"].GetObject()["header"]);
// Lasse die JointTrajectoryPoints vom jeweiligen Coder deserialisieren
JsonArray jjointtrajectorypoints = jsonObject["msg"].GetObject()["points"].GetArray();
//TODO JointTrajectoryPoints deserialisieren
JointTrajectoryPoint[] pts = new JointTrajectoryPoint[jjointtrajectorypoints.Count];
for (int i = 0; i < jjointtrajectorypoints.Count; i++)
{
pts[i] = RosJointTrajectoryPointCoder_.deserializeSingleJointTrajectoryPoint((JsonValue)jjointtrajectorypoints[i]);
}
JointTrajectory messageData = new JointTrajectory();
messageData.header = header;
// Nutze den ArrayService, um die JSONArrays in "normale" Arrays umzuwandeln
messageData.joint_names = RosArrayService_.stringArrayAusJSonArray(jjoint_names);
messageData.points = pts;
return(new RosPublish("\"/preview_trajectory\"", messageData));
}
private RosPublish deserializeJointState(JsonObject jsonObject)
{
JsonArray jnarray = jsonObject["msg"].GetObject()["name"].GetArray();
JsonArray jparray = jsonObject["msg"].GetObject()["position"].GetArray();
JsonArray jvarray = jsonObject["msg"].GetObject()["velocity"].GetArray();
JsonArray jearray = jsonObject["msg"].GetObject()["effort"].GetArray();
// baue den Header
Header header = RosHeaderCoder_.deserializeSingleHeader((JsonValue)jsonObject["msg"].GetObject()["header"]);
//Restliche Werte des JointState rausfinden
JointState messageData = new JointState();
messageData.header = header;
// Nutze den ArrayService, um die JSONArrays in "normale" Arrays umzuwandeln
messageData.name = RosArrayService_.stringArrayAusJSonArray(jnarray);
messageData.position = RosArrayService_.doubleArrayAusJSonArray(jparray);
messageData.velocity = RosArrayService_.doubleArrayAusJSonArray(jvarray);
messageData.effort = RosArrayService_.doubleArrayAusJSonArray(jearray);
return(new RosPublish("\"/joint_states\"", messageData));
}
