public static string Sum(SrvTypes m)
{
if (!srvmd5memo.ContainsKey(m))
{
IRosService irm = IRosService.generate(m);
string req = PrepareToHash(irm.RequestMessage);
string res = PrepareToHash(irm.ResponseMessage);
srvmd5memo.Add(m, Sum(req, res));
}
return(srvmd5memo[m]);
}
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!");
}
}
}
