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Adjust function Ros.prototype.decodeTypeDefs #463

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peach96 opened this issue Aug 1, 2021 · 0 comments
Open

Adjust function Ros.prototype.decodeTypeDefs #463

peach96 opened this issue Aug 1, 2021 · 0 comments

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@peach96
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peach96 commented Aug 1, 2021

I wanted to use the function Ros.prototype.decodeTypeDefs in my project to decode the results I got from the functions Ros.prototype.getMessageDetails and Ros.prototype.getServiceRequestDetails, but it only worked for simple message/request types.

Therefore I adjusted the existing function, so that it would also work for complex types, for example 'geometry_msgs/twist'.
I thought I'd post my solution here, if anyone has the same problem:

 decodeTypeDefs(defs) {
        var that = this;

        // calls itself recursively to resolve type definition using hints.
        var decodeTypeDefsRec = function (theType, hints) {
            var typeDefDict = {};
            for (var i = 0; i < theType.fieldnames.length; i++) {
                var arrayLen = theType.fieldarraylen[i];
                var fieldName = theType.fieldnames[i];
                var fieldType = theType.fieldtypes[i];

                // check if fieldType can be found in fieldnames 
                var complexFieldType = (defs.findIndex(def => def.type === fieldType) !== -1) ? true : false;

                //if fieldType complex --> then change fieldarraylen to 0
                arrayLen = complexFieldType ? 0 : arrayLen;

                if (!complexFieldType) { // check if fieldType is complex
                    if (arrayLen === -1) {
                        typeDefDict[fieldName] = fieldType;
                    } else {
                        typeDefDict[fieldName] = [fieldType];
                    }
                } else {
                    // lookup the name
                    var sub = false;
                    for (var j = 0; j < hints.length; j++) {
                        if (hints[j].type.toString() === fieldType.toString()) {
                            sub = hints[j];
                            break;
                        }
                    }
                    if (sub) {
                        console.log(true);
                        var subResult = decodeTypeDefsRec(sub, hints);
                        if (arrayLen === -1) {
                        } else {
                            typeDefDict[fieldName] = [subResult];
                        }
                    } else {
                        that.emit('error', 'Cannot find ' + fieldType + ' in decodeTypeDefs');
                    }
                }
            }
            return typeDefDict;
        };
        return decodeTypeDefsRec(defs[0], defs);
    } 
k-aguete pushed a commit to k-aguete/roslibjs that referenced this issue Oct 21, 2022
Bumps [karma](https://github.com/karma-runner/karma) from 6.3.6 to 6.3.8.
- [Release notes](https://github.com/karma-runner/karma/releases)
- [Changelog](https://github.com/karma-runner/karma/blob/master/CHANGELOG.md)
- [Commits](karma-runner/karma@v6.3.6...v6.3.8)

---
updated-dependencies:
- dependency-name: karma
  dependency-type: direct:development
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <[email protected]>

Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
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