|
private generate ( MsgTypes t ) : |
||
| t | MsgTypes | |
| return | ||
public static string Sum(MsgTypes m)
{
if (!md5memo.ContainsKey(m))
{
IRosMessage irm = IRosMessage.generate(m);
string hashme = PrepareToHash(irm);
md5memo.Add(m, Sum(hashme));
}
return(md5memo[m]);
}
public static Type GetType(string s)
{
Type ret;
MsgTypes mt = GetMessageType(s);
if (mt == MsgTypes.Unknown)
{
ret = Type.GetType(s, true, true);
}
else
{
ret = IRosMessage.generate(mt).GetType();
}
// Console.WriteLine(s + "=" + ret.Name);
return(ret);
}
public static IRosService generate <RequestType> (SrvTypes t) where RequestType : IRosMessage
{
lock ( constructors )
{
if (constructors.ContainsKey(t))
{
return(constructors [t].Invoke(t));
}
Type thistype = typeof(IRosService);
foreach (Type othertype in Assembly.GetAssembly(typeof(RequestType)).GetTypes())
{
if (thistype == othertype || !othertype.IsSubclassOf(thistype) || othertype.IsAbstract || othertype.Name.Contains("Decorator"))
{
continue;
}
IRosService srv = Activator.CreateInstance(othertype) as IRosService;
if (srv != null)
{
if (srv.srvtype() == SrvTypes.Unknown)
{
throw new Exception("OH NOES IRosService.generate is borked!");
}
if (!_typeregistry.ContainsKey(srv.srvtype()))
{
_typeregistry.Add(srv.srvtype(), srv.GetType());
}
if (!constructors.ContainsKey(srv.srvtype()))
{
constructors.Add(srv.srvtype(), T => Activator.CreateInstance(_typeregistry [T]) as IRosService);
}
srv.RequestMessage = IRosMessage.generate <RequestType> ((MsgTypes)Enum.Parse(typeof(MsgTypes), srv.srvtype().ToString() + "__Request"));
srv.ResponseMessage = IRosMessage.generate <RequestType> ((MsgTypes)Enum.Parse(typeof(MsgTypes), srv.srvtype().ToString() + "__Response"));
}
}
if (constructors.ContainsKey(t))
{
return(constructors [t].Invoke(t));
}
else
{
throw new Exception("OH NOES IRosService.generate is borked!");
}
}
}
public static bool IsSizeKnown(Type T, bool recurse)
{
if (T == typeof(string) || T == typeof(String) ||
(T.FullName != null && T.FullName.Contains("Messages.std_msgs.String")) /*|| T.IsArray ERIC*/)
{
return(false);
}
if (T.FullName.Contains("System.") || T.FullName.Contains("Messages.std_msgs.Time") || T.FullName.Contains("Messages.std_msgs.Duration"))
{
return(true);
}
if (!recurse || !T.FullName.Contains("Messages"))
{
return(true);
}
FieldInfo[] infos = T.GetFields();
bool b = true;
foreach (FieldInfo info in infos)
{
string fullName = info.FieldType.FullName;
if (fullName != null)
{
if (fullName.Contains("Messages."))
{
MsgTypes MT = GetMessageType(info.FieldType);
IRosMessage TI = IRosMessage.generate(MT);
b &= IsSizeKnown(TI.GetType(), true); //TI.Fields[info.Name].Type != typeof(string) && TI.Fields[info.Name].Type != typeof(String) && (!TI.Fields[info.Name].IsArray || TI.Fields[info.Name].Length != -1);
}
else
{
b &= !info.FieldType.IsArray && info.FieldType != typeof(string);
}
}
if (!b)
{
break;
}
}
return(b);
}
public static Type GetType(string s)
{
lock (GetTypeTypeMemo)
{
if (GetTypeTypeMemo.ContainsKey(s))
{
return(GetTypeTypeMemo[s]);
}
Type ret;
MsgTypes mt = GetMessageType(s);
if (mt == MsgTypes.Unknown)
{
ret = Type.GetType(s, true, true);
}
else
{
ret = IRosMessage.generate(mt).GetType();
}
return(GetTypeTypeMemo[s] = ret);
}
}
