public static IRecordedMessage <TType> SetMessageType <TType>(this IRecordedMessage message) where TType : class
{
if (message is INamespaceScopedTopicMessage <IRecordedMessage> namespaceScopedMessage)
{
var innerMessage = namespaceScopedMessage.InnerMessage;
var typedMessage = new RecordedMessage <TType>(innerMessage);
return(NamespaceScopedRecordedMessage.Create(typedMessage, namespaceScopedMessage.NamespacePattern));
}
else
{
return(new RecordedMessage <TType>(message));
}
}
public static IRecordedMessage <TType> Create <TType>(IRecordedMessage <TType> recordedMessage, NamespacePattern namespacePattern)
{
if (recordedMessage == null)
{
return(null);
}
if (recordedMessage is INamespaceScopedTopicMessage <IRecordedMessage <TType> > namespaceScopedMessage)
{
namespacePattern = namespaceScopedMessage.NamespacePattern.Concat(namespacePattern);
recordedMessage = namespaceScopedMessage.InnerMessage;
}
return(new NamespaceScopedRecordedMessageWrapper <TType>(recordedMessage, namespacePattern));
}
public static bool IsInTopic(this IRecordedMessage message, string topicNamePattern)
{
if (message == null)
{
throw new ArgumentNullException(nameof(message));
}
if (RosNameRegex.IsGlobalPattern(topicNamePattern))
{
return(IsInGlobalTopic(message, topicNamePattern));
}
else
{
return(IsInRelativeTopic(message, topicNamePattern));
}
}
private static bool IsInRelativeTopic(this IRecordedMessage message, string relativeTopicNamePattern,
RosNameRegexCache regexCache = null)
{
var scopedMessage = message as INamespaceScopedTopicMessage <IRecordedMessage>;
if (scopedMessage == null)
{
throw new InvalidRosNamePatternException(
"Relative topic name patterns are only supported if messages were filtered by namespace before.");
}
var globalName = scopedMessage.NamespacePattern + "/" + relativeTopicNamePattern;
var regex = regexCache != null
? regexCache.GetOrCreate(globalName)
: RosNameRegex.Create(globalName);
return(regex.IsMatch(message.Topic));
}
public RosActionCall(IRecordedMessage <ActionGoal> goal, ActionMessagesCollection actionMessages)
{
_goal = goal ?? throw new ArgumentNullException(nameof(goal));
_actionMessages = actionMessages ?? throw new ArgumentNullException(nameof(actionMessages));
}
public RecordedMessage(IRecordedMessage message)
{
_innerMessage = message ?? throw new ArgumentNullException(nameof(message));
}
private static bool IsInGlobalTopic(this IRecordedMessage message, string globalTopicNamePattern)
{
var regex = RosNameRegex.Create(globalTopicNamePattern);
return(regex.IsMatch(message.Topic));
}
public static IRecordedMessage <TType> Create <TType>(IRecordedMessage <TType> recordedMessage,
string namespaceScope)
{
return(Create(recordedMessage, new NamespacePattern(namespaceScope)));
}
