public virtual MReq deserialize <MReq, MRes>(ServiceCallbackHelperParams <MReq, MRes> parms) where MReq : IRosMessage where MRes : IRosMessage
{
//EDB.WriteLine("ISubscriptionCallbackHelper: deserialize");
IRosMessage msg = ROS.MakeMessage(type);
assignSubscriptionConnectionHeader(ref msg, parms.connection_header);
MReq t = (MReq)msg;
t.Deserialize(parms.response.Serialized);
return(t);
//return SerializationHelper.Deserialize<T>(parms.buffer);
}
public virtual T deserialize <T>(SubscriptionCallbackHelperDeserializeParams parms) where T : IRosMessage
{
//EDB.WriteLine("ISubscriptionCallbackHelper: deserialize");
IRosMessage msg = ROS.MakeMessage(type);
assignSubscriptionConnectionHeader(ref msg, parms.connection_header);
T t = (T)msg;
t.Deserialize(parms.buffer);
return(t);
//return SerializationHelper.Deserialize<T>(parms.buffer);
}
public IMessageDeserializer MakeDeserializer(MsgTypes type, ISubscriptionCallbackHelper helper, IRosMessage m,
IDictionary connection_header)
{
if (type == MsgTypes.Unknown)
{
return(null);
}
//return ROS.MakeDeserializer(ROS.MakeMessage(type));
return
((IMessageDeserializer)
Activator.CreateInstance(
typeof(MessageDeserializer <>).MakeGenericType(
ROS.MakeMessage(type).GetType()), helper, m, connection_header));
}
