protected virtual MessageTemplateData GetMessageTemplateData(RosTypeInfo rosType, DetailedRosMessageType messageType,
MessageDescriptor message)
{
var fields = message.Fields
.Select(x => new FieldTemplateData
{
Index = message.Items
.Select((item, index) => new { Item = item, Index = index })
.First(f => f.Item == x)
.Index + 1, // Index of this field in serialized message (starting at 1)
RosType = x.TypeInfo,
RosIdentifier = x.Identifier,
Type = new FieldTypeTemplateData(NameMapper.ResolveFullQualifiedInterfaceName(x.TypeInfo),
NameMapper.ResolveFullQualifiedTypeName(x.TypeInfo),
x.TypeInfo)
,
Identifier = NameMapper.GetFieldName(x.Identifier)
})
.ToList();
var constants = message.Constants
.Select(c => new ConstantTemplateData
{
Index = message.Items
.Select((item, index) => new { item, index })
.First(x => x.item == c)
.index + 1,
RosType = c.TypeInfo,
RosIdentifier = c.Identifier,
TypeName = NameMapper.ResolveFullQualifiedTypeName(c.TypeInfo),
Identifier = NameMapper.GetConstantName(c.Identifier),
Value = c.Value
})
.ToList();
var data = new MessageTemplateData
{
Package = PackageTemplateData,
RosTypeName = NameMapper.GetRosTypeName(rosType.TypeName, messageType),
RosAbstractTypeName = rosType.TypeName,
TypeName = NameMapper.GetTypeName(rosType.TypeName, messageType),
AbstractTypeName = NameMapper.GetTypeName(rosType.TypeName, DetailedRosMessageType.None),
Fields = fields,
Constants = constants,
MessageType = new MessageTypeTemplateData(messageType)
};
return(data);
}
protected virtual ServiceTemplateData GetServiceTemplateData(RosTypeInfo serviceType)
{
var data = new ServiceTemplateData
{
Package = PackageTemplateData,
ServiceType = new ConcreteTypeTemplateData
{
RosTypeName = NameMapper.GetRosTypeName(serviceType.TypeName, DetailedRosMessageType.Service),
TypeName = NameMapper.GetTypeName(serviceType.TypeName, DetailedRosMessageType.Service)
},
RequestType = new ConcreteTypeTemplateData
{
RosTypeName = NameMapper.GetRosTypeName(serviceType.TypeName, DetailedRosMessageType.ServiceRequest),
TypeName = NameMapper.GetTypeName(serviceType.TypeName, DetailedRosMessageType.ServiceRequest)
},
ResponseType = new ConcreteTypeTemplateData
{
RosTypeName = NameMapper.GetRosTypeName(serviceType.TypeName, DetailedRosMessageType.ServiceResponse),
TypeName = NameMapper.GetTypeName(serviceType.TypeName, DetailedRosMessageType.ServiceResponse)
}
};
return(data);
}
