public RosMessageConstantDescriptor(int index, RosType rosType, string rosIdentifier, object value)
{
Index = index;
RosType = rosType ?? throw new ArgumentNullException(nameof(rosType));
RosIdentifier = rosIdentifier ?? throw new ArgumentNullException(nameof(rosIdentifier));
Value = value ?? throw new ArgumentNullException(nameof(value));
if (!rosType.IsBuiltIn || rosType.IsArray)
{
throw new ArgumentOutOfRangeException(nameof(rosType), $"ROS type {rosType} is no supported constant type");
}
}
private static RosType GetRosFieldType(string rosType, string fallbackPackage)
{
var rosFieldType = RosType.Parse(rosType);
// Add package definition for intra package type refs
if (!rosFieldType.IsFullQualified)
{
rosFieldType = rosFieldType.ToFullQualifiedType(fallbackPackage);
}
return(rosFieldType);
}
private static RosType GetOrSetCacheItem(string type, RosType rosType)
{
lock (RosTypeCache)
{
if (RosTypeCache.TryGetValue(type, out var cachedType))
{
return(cachedType);
}
else
{
RosTypeCache.Add(type, rosType);
return(rosType);
}
}
}
public static Type GetSerializationType(RosType rosType)
{
if (RosTypeMappings.TryGetValue(rosType.TypeName, out var type))
{
Debug.Assert(type != null, nameof(type) + " != null");
return(type);
}
// Type was not found. Maybe it was not a built in ros type
if (!rosType.IsBuiltIn)
{
throw new InvalidOperationException($"ROS type {rosType} is not a built in ROS type.");
}
throw new InvalidOperationException($"ROS type {rosType} is not supported.");
}
public RosMessageDescriptor(RosType rosType, IEnumerable <RosMessageFieldDescriptor> fields,
IEnumerable <RosMessageConstantDescriptor> constants)
{
RosType = rosType ?? throw new ArgumentNullException(nameof(rosType));
if (fields == null)
{
fields = Enumerable.Empty <RosMessageFieldDescriptor>();
}
if (constants == null)
{
constants = Enumerable.Empty <RosMessageConstantDescriptor>();
}
Fields = fields
.OrderBy(f => f.Index)
.ToList();
Constants = constants
.OrderBy(c => c.Index)
.ToList();
}
protected bool Equals(RosType other)
{
return(PackageName == other.PackageName && TypeName == other.TypeName && IsBuiltIn == other.IsBuiltIn && IsArray == other.IsArray && ArraySize == other.ArraySize);
}
protected RosMessageFieldDescriptor(int index, RosType rosType, string rosIdentifier)
{
Index = index;
RosType = rosType ?? throw new ArgumentNullException(nameof(rosType));
RosIdentifier = rosIdentifier ?? throw new ArgumentNullException(nameof(rosIdentifier));
}
public void SetRosType(RosType rosType)
{
_rosType = rosType ?? throw new ArgumentNullException(nameof(rosType));
}
public DescriptorBasedRosServiceInfo(RosType type, DescriptorBasedMessageTypeInfo request, DescriptorBasedMessageTypeInfo response)
{
RosType = type ?? throw new ArgumentNullException(nameof(type));
_request = request ?? throw new ArgumentNullException(nameof(request));
_response = response ?? throw new ArgumentNullException(nameof(response));
}
public PropertyRosMessageFieldDescriptor(int index, RosType rosType, string rosIdentifier,
PropertyInfo mappedProperty) : base(index, rosType, rosIdentifier)
{
MappedProperty = mappedProperty ?? throw new ArgumentNullException(nameof(mappedProperty));
}
public static RosMessageDescriptor Create(Type type)
{
if (type == null)
{
throw new ArgumentNullException(nameof(type));
}
var messageTypeAttribute = type.GetCustomAttributes(false)
.OfType <RosMessageBaseAttribute>()
.FirstOrDefault();
if (messageTypeAttribute == null)
{
throw new NotSupportedException();
}
var descriptorBuilder = new RosMessageDescriptorBuilder();
var rosType = RosType.Parse(messageTypeAttribute.MessageType);
descriptorBuilder.SetRosType(rosType);
// Get Fields from properties
foreach (var property in type.GetProperties(BindingFlags.Instance | BindingFlags.Public))
{
var rosFieldAttribute = GetRosMessageFieldAttribute(property);
if (rosFieldAttribute == null)
{
continue;
}
var rosFieldType = GetRosFieldType(rosFieldAttribute.RosType, rosType.PackageName);
var rosIdentifier = rosFieldAttribute.RosIdentifier ?? property.Name;
var fieldDescriptor = new PropertyRosMessageFieldDescriptor(rosFieldAttribute.Index, rosFieldType,
rosIdentifier, property);
descriptorBuilder.Add(fieldDescriptor);
}
// Get Fields from fields
foreach (var field in type.GetFields(BindingFlags.Instance | BindingFlags.Public))
{
var rosFieldAttribute = GetRosMessageFieldAttribute(field);
if (rosFieldAttribute == null)
{
continue;
}
var rosFieldType = GetRosFieldType(rosFieldAttribute.RosType, rosType.PackageName);
var rosIdentifier = rosFieldAttribute.RosIdentifier ?? field.Name;
var fieldDescriptor = new FieldRosMessageFieldDescriptor(rosFieldAttribute.Index, rosFieldType,
rosIdentifier, field);
descriptorBuilder.Add(fieldDescriptor);
}
// Get Constants
foreach (var constant in GetConstants(type))
{
var rosConstantAttribute = constant.GetCustomAttributes(false)
.OfType <RosMessageFieldAttribute>()
.FirstOrDefault();
if (rosConstantAttribute == null)
{
continue;
}
var rosConstantType = RosType.Parse(rosConstantAttribute.RosType);
var constantValue = constant.GetValue(null);
var constantDescriptor = new RosMessageConstantDescriptor(rosConstantAttribute.Index, rosConstantType,
rosConstantAttribute.RosIdentifier, constantValue);
descriptorBuilder.Add(constantDescriptor);
}
return(descriptorBuilder.Build());
}
public FieldRosMessageFieldDescriptor(int index, RosType rosType, string rosIdentifier,
FieldInfo mappedField) : base(index, rosType, rosIdentifier)
{
MappedField = mappedField ?? throw new ArgumentNullException(nameof(mappedField));
}
public override string ToString()
{
return(RosType.ToString());
}