public static DescriptorBasedMessageTypeInfo Create(Type mappedType,
RosMessageDescriptor messageDescriptor, MessageTypeRegistry registry)
{
var dependencies = new List <IRosMessageTypeInfo>();
foreach (var dependentField in messageDescriptor.Fields)
{
if (dependentField.RosType.IsBuiltIn)
{
continue;
}
Type mappedFieldType;
if (dependentField.RosType.IsArray)
{
mappedFieldType = dependentField
.Type
.GetInterfaces()
.Where(t => t.IsGenericType && t.GetGenericTypeDefinition() == typeof(IEnumerable <>))
.Select(t => t.GetGenericArguments()[0])
.FirstOrDefault();
}
else
{
mappedFieldType = dependentField.Type;
}
var dependency = registry.GetOrCreateMessageTypeInfo(mappedFieldType);
dependencies.Add(dependency);
}
return(new DescriptorBasedMessageTypeInfo(mappedType, messageDescriptor, dependencies));
}
public AttributedMessageTypeInfoFactory(MessageTypeRegistry typeRegistry)
{
_typeRegistry = typeRegistry ?? throw new ArgumentNullException(nameof(typeRegistry));
}