/// <summary>
/// Parse the build in type and return the length of object in the bytes and record
/// </summary>
/// <param name="rawData"></param>
/// <param name="type"></param>
/// <param name="offset"></param>
/// <returns></returns>
private Tuple <int, dynamic> ParseBuildInTypes(byte[] rawData, string type, int offset = 0)
{
switch (type)
{
case "string":
var len = (int)BitConverter.ToInt32(rawData, offset);
return(new Tuple <int, dynamic>(len + 4, Encoding.UTF8.GetString(rawData, offset + 4, len)));
case "bool":
return(new Tuple <int, dynamic>(1, BitConverter.ToBoolean(rawData, offset)));
case "int8":
return(new Tuple <int, dynamic>(1, rawData[offset]));
case "uint8":
return(new Tuple <int, dynamic>(1, rawData[offset]));
case "int16":
return(new Tuple <int, dynamic>(2, BitConverter.ToInt16(rawData, offset)));
case "uint16":
return(new Tuple <int, dynamic>(2, BitConverter.ToUInt16(rawData, offset)));
case "int32":
return(new Tuple <int, dynamic>(4, BitConverter.ToInt32(rawData, offset)));
case "uint32":
return(new Tuple <int, dynamic>(4, BitConverter.ToUInt32(rawData, offset)));
case "int64":
return(new Tuple <int, dynamic>(8, BitConverter.ToInt64(rawData, offset)));
case "uint64":
return(new Tuple <int, dynamic>(8, BitConverter.ToUInt64(rawData, offset)));
case "float32":
return(new Tuple <int, dynamic>(4, BitConverter.ToSingle(rawData, offset)));
case "float64":
return(new Tuple <int, dynamic>(8, BitConverter.ToDouble(rawData, offset)));
case "time":
return(new Tuple <int, dynamic>(8, RosTime.FromRosBytes(rawData, offset)));
case "duration":
return(new Tuple <int, dynamic>(8, RosDuration.FromRosBytes(rawData, offset)));
case "header":
case "Header":
var header = RosHeader.FromRosBytes(rawData, offset);
return(new Tuple <int, dynamic>(header.HeaderByteSize, header));
}
return(null);
}
public static RosHeader FromRosBytes(byte[] headerBytes)
{
return(RosHeader.FromRosBytes(headerBytes, 0));
}
