public static ConstantDescriptor Create(RosTypeInfo typeInfo, string identifier, object value)
{
if (typeInfo == null)
{
throw new ArgumentNullException(nameof(typeInfo));
}
if (value == null)
{
throw new ArgumentNullException(nameof(value));
}
if (typeInfo.IsArray || !typeInfo.IsBuiltInType)
{
throw new InvalidOperationException($"Type {typeInfo} is not supported for constant declaration");
}
var typeMapping = BuiltInTypeMapping.Create(typeInfo);
if (typeMapping.Type != value.GetType())
{
// Fix value type
var converter = System.ComponentModel.TypeDescriptor.GetConverter(value.GetType());
if (converter.CanConvertTo(typeMapping.Type))
{
value = converter.ConvertTo(value, typeMapping.Type);
}
else
{
throw new InvalidOperationException($"Cannot convert from {value.GetType()} to {typeMapping.Type}");
}
}
return(new ConstantDescriptor(typeInfo, identifier, value));
}
public override object VisitRos_type(RosMessageParser.Ros_typeContext context)
{
string packageName = null;
string typeName = null;
if (context.ChildCount == 1)
{
typeName = context.GetChild(0).GetText();
if (typeName == "Header")
{
packageName = "std_msgs";
}
}
else
{
packageName = context.GetChild(0).GetText();
typeName = context.GetChild(2).GetText();
}
var typeInfo = RosTypeInfo.CreateRosType(packageName, typeName);
_listener.OnVisitRosType(typeInfo);
return(typeInfo);
}
public void OnVisitBuiltInType(RosTypeInfo typeInfo)
{
foreach (var listener in _listeners)
{
listener.OnVisitBuiltInType(typeInfo);
}
}
private RosTypeInfo VisitBuiltInType(ParserRuleContext context)
{
var rosType = context.GetText();
var typeInfo = RosTypeInfo.CreateBuiltIn(rosType);
_listener.OnVisitBuiltInType(typeInfo);
return(typeInfo);
}
public override object VisitVariable_array_type(RosMessageParser.Variable_array_typeContext context)
{
var type = (RosTypeInfo)Visit(context.GetChild(0));
var arrayType = RosTypeInfo.CreateVariableArray(type);
_listener.OnVisitArrayType(arrayType);
return(arrayType);
}
public override object VisitFixed_array_type(RosMessageParser.Fixed_array_typeContext context)
{
var type = (RosTypeInfo)Visit(context.GetChild(0));
var size = int.Parse(context.GetChild(2).GetText());
var arrayType = RosTypeInfo.CreateFixedSizeArray(type, size);
_listener.OnVisitArrayType(arrayType);
return(arrayType);
}
public static RosTypeInfo CreateVariableArray(RosTypeInfo type)
{
if (type == null)
{
throw new ArgumentNullException(nameof(type));
}
return(new RosTypeInfo(type.PackageName, type.TypeName, type.IsBuiltInType, true, 0));
}
public static RosTypeInfo CreateFixedSizeArray(RosTypeInfo type, int size)
{
if (type == null)
{
throw new ArgumentNullException(nameof(type));
}
if (size <= 0)
{
throw new ArgumentOutOfRangeException(nameof(size));
}
return(new RosTypeInfo(type.PackageName, type.TypeName, type.IsBuiltInType, true, size));
}
public NestedTypeDescriptor(RosTypeInfo typeInfo, MessageDescriptor messageDefinition)
{
if (typeInfo == null)
{
throw new ArgumentNullException(nameof(typeInfo));
}
if (messageDefinition == null)
{
throw new ArgumentNullException(nameof(messageDefinition));
}
TypeInfo = typeInfo;
MessageDefinition = messageDefinition;
}
public FieldDescriptor(RosTypeInfo typeInfo, string identifier)
{
if (typeInfo == null)
{
throw new ArgumentNullException(nameof(typeInfo));
}
if (identifier == null)
{
throw new ArgumentNullException(nameof(identifier));
}
TypeInfo = typeInfo;
Identifier = identifier;
}
public static BuiltInTypeMapping Create(RosTypeInfo primitiveRosType)
{
if (primitiveRosType == null)
{
throw new ArgumentNullException(nameof(primitiveRosType));
}
if (!primitiveRosType.IsBuiltInType)
{
throw new InvalidOperationException($"ROS type {primitiveRosType} is no primitive type.");
}
return(Create(primitiveRosType.TypeName));
}
protected ConstantDescriptor(RosTypeInfo typeInfo, string identifier, object value)
{
if (typeInfo == null)
{
throw new ArgumentNullException(nameof(typeInfo));
}
if (identifier == null)
{
throw new ArgumentNullException(nameof(identifier));
}
if (value == null)
{
throw new ArgumentNullException(nameof(value));
}
TypeInfo = typeInfo;
Identifier = identifier;
Value = value;
}
protected bool Equals(RosTypeInfo other)
{
return(PackageName == other.PackageName && TypeName == other.TypeName && IsBuiltInType == other.IsBuiltInType && IsArray == other.IsArray && ArraySize == other.ArraySize);
}
