diff --git a/.editorconfig b/.editorconfig new file mode 100644 index 00000000..d48682bf --- /dev/null +++ b/.editorconfig @@ -0,0 +1,75 @@ +; see http://editorconfig.org/ for docs on this file +; See https://github.com/dotnet/format for dotnet format + +root = true + +[*] +ignore_if_in_header = This code was generated by a tool| +indent_style = space +indent_size = 4 +; uncomment to help with sharing files across os's (i.e. network share or through local vm) +#end_of_line = lf +; avoid a bom, which causes endless problems with naive text tooling +charset = utf-8 +trim_trailing_whitespace = true +insert_final_newline = true +; keeping auto-format enabled helps avoid merge hell for projects without CI-based format validation +#disable_auto_format = true + +[*.cs] +; uncomment to enable full formatting of c# files +formatters = generic, uncrustify + +[*.asmdef] +scrape_api = true + +[**/Tests/**.asmdef] +scrape_api = false + +[*.Tests.asmdef] +scrape_api = false + +[*.md] +indent_size = 2 +; trailing whitespace is unfortunately significant in markdown +trim_trailing_whitespace = false +; uncomment to enable basic formatting of markdown files +#formatters = generic + +[{Makefile,makefile}] +; tab characters are part of the Makefile format +indent_style = tab + +[*.asmdef] +indent_size = 4 + +[*.json] +indent_size = 2 + +[*.{vcproj,bat,cmd,xaml,tt,t4,ttinclude}] +end_of_line = crlf + +; this VS-specific stuff is based on experiments to see how VS will modify a file after it has been manually edited. +; the settings are meant to closely match what VS does to minimize unnecessary diffs. +[*.{vcxproj,vcxproj.filters}] +indent_style = space +indent_size = 2 +end_of_line = crlf +charset = utf-8-bom +trim_trailing_whitespace = true +insert_final_newline = false +; must be broken out because of 51-char bug (https://github.com/editorconfig/editorconfig-visualstudio/issues/21) +[*.{csproj,pyproj,props,targets}] +indent_style = space +indent_size = 2 +end_of_line = crlf +charset = utf-8-bom +trim_trailing_whitespace = true +insert_final_newline = false +[*.{sln,sln.template}] +indent_style = tab +indent_size = 4 +end_of_line = crlf +charset = utf-8 +trim_trailing_whitespace = true +insert_final_newline = false diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml new file mode 100644 index 00000000..e3d6b78a --- /dev/null +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -0,0 +1,5 @@ +blank_issues_enabled: false +contact_links: + - name: Unity Robotics Forum + url: https://forum.unity.com/forums/robotics.623/ + about: Discussions and questions about Unity Robotics tools, demos, or integrations. \ No newline at end of file diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index 6c88fdec..e2f22bd1 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -16,7 +16,7 @@ Provide any relevant links here. ## Testing and Verification -Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment. +Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment. ### Test Configuration: - Unity Version: [e.g. Unity 2020.2.0f1] @@ -27,8 +27,9 @@ Please describe the tests that you ran to verify your changes. Please also provi ## Checklist - [ ] Ensured this PR is up-to-date with the `dev` branch - [ ] Created this PR to target the `dev` branch -- [ ] Followed the style guidelines as described in the [Contribution Guidelines](../CONTRIBUTING.md) +- [ ] Followed the style guidelines as described in the [Contribution Guidelines](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/main/CONTRIBUTING.md) - [ ] Added tests that prove my fix is effective or that my feature works +- [ ] Updated the [Changelog](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/dev/com.unity.robotics.ros-tcp-connector/CHANGELOG.md) and described changes in the [Unreleased section](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/dev/com.unity.robotics.ros-tcp-connector/CHANGELOG.md#unreleased) - [ ] Updated the documentation as appropriate ## Other comments \ No newline at end of file diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml new file mode 100644 index 00000000..8aa9a716 --- /dev/null +++ b/.github/workflows/pre-commit.yml @@ -0,0 +1,17 @@ +name: pre-commit + +on: + pull_request: + +jobs: + pre-commit: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - uses: actions/setup-python@v2 + with: + python-version: 3.7.x + - uses: actions/setup-dotnet@v1 + with: + dotnet-version: '3.1.x' + - uses: pre-commit/action@v2.0.0 diff --git a/.gitignore b/.gitignore index 60677d05..2d53f34e 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ .idea .DS_Store *.swp +*.vscode/ \ No newline at end of file diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 00000000..785adfce --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,31 @@ +repos: +- repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.0.1 + hooks: + - id: mixed-line-ending + exclude: > + (?x)^( + .*cs.meta| + .*.css| + .*.meta| + .*.mat| + .*.preset| + .*.lighting + )$ + args: [--fix=lf] + + - id: trailing-whitespace + name: trailing-whitespace-markdown + types: [markdown] + - id: check-merge-conflict + args: [--assume-in-merge] + - id: check-yaml + # Won't handle the templating in yamato + exclude: \.yamato/.* + + +- repo: https://github.com/dotnet/format + rev: "7e343070a0355c86f72bdee226b5e19ffcbac931" + hooks: + - id: dotnet-format + args: [--folder, --include] diff --git a/.yamato/yamato-config.yml b/.yamato/yamato-config.yml index e10aae1a..fd97b5db 100644 --- a/.yamato/yamato-config.yml +++ b/.yamato/yamato-config.yml @@ -9,14 +9,19 @@ commands: - python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade - unity-downloader-cli -u 2020.2.0b9 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr - - utr/utr --testproject=./TestRosTcpConnector --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor + - utr/utr --testproject=./TestRosTcpConnector --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --enable-code-coverage --coverage-results-path=../test-results --coverage-options="assemblyFilters:+Unity.Robotics.ROSTCPConnector,+Unity.Robotics.ROSTCPConnector.Editor;generateHtmlReport;generateBadgeReport;generateAdditionalMetrics" + # check test coverage + - command: | + linecoverage=$(cat test-results/Report/Summary.xml | grep Linecoverage | grep -Eo '[+-]?[0-9]+([.][0-9]+)?') + echo "Line coverage: $linecoverage%" + if (( $(echo "$linecoverage < 0" | bc -l) )); then exit 1; fi triggers: cancel_old_ci: true expression: | (pull_request.target eq "main" AND NOT pull_request.push.changes.all match "**/*.md") OR - (push.branch eq "dev" AND - NOT push.changes.all match "**/*.md") + (pull_request.target eq "dev" AND + NOT pull_request.push.changes.all match "**/*.md") artifacts: logs: paths: diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 4b649214..cb9522e8 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -1,7 +1,7 @@ # Contribution Guidelines -Thank you for your interest in contributing to Unity Robotics! To facilitate your -contributions, we've outlined a brief set of guidelines to ensure that your extensions +Thank you for your interest in contributing to Unity Robotics! To facilitate your +contributions, we've outlined a brief set of guidelines to ensure that your extensions can be easily integrated. ## Communication @@ -40,10 +40,10 @@ We run continuous integration on all PRs; all tests must be passing before the P All Python code should follow the [PEP 8 style guidelines](https://pep8.org/). -All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions). -Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html) -can be used to format, encode, and lint your code according to the standard Unity -development conventions. Be aware that these Unity conventions will supersede the +All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions). +Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html) +can be used to format, encode, and lint your code according to the standard Unity +development conventions. Be aware that these Unity conventions will supersede the Microsoft C# Coding Conventions where applicable. Please note that even if the code you are changing does not adhere to these guidelines, @@ -60,5 +60,5 @@ email us at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com). ## Contribution review -Once you have a change ready following the above ground rules, simply make a +Once you have a change ready following the above ground rules, simply make a pull request in GitHub. \ No newline at end of file diff --git a/MessageGeneration.md b/MessageGeneration.md index 32c6c9b8..89662789 100644 --- a/MessageGeneration.md +++ b/MessageGeneration.md @@ -1,13 +1,13 @@ -# Message Generation - -To work with a ROS message in Unity, you first need to generate the corresponding C# message class. Select the menu option "RosMessageGeneration->Browse..." to open the message browser. - -![](images~/MessageBrowser.png) - -Select your ROS message folder at the top, then you can navigate through the folder structure to find the .msg files. Click the "Build msg" button to build the messages you want. - -# Message importers - -For a more automated workflow, you may find it useful to simply drag an entire ROS module folder into your Unity project. Unity will automatically find any .msg and .srv files in the folder structure, and convert them into C# message classes for you. And the classes will be updated if the .msg or .srv files change on disk. - -NB: The message generation system looks for a ROS package.xml to determine what code to generate, so if you're working this way it's recommended to import an entire ROS module, rather than individual .msg files, into your Unity project. \ No newline at end of file +# Message Generation + +To work with a ROS message in Unity, you first need to generate the corresponding C# message class. Select the menu option "RosMessageGeneration->Browse..." to open the message browser. + +![](images~/MessageBrowser.png) + +Select your ROS message folder at the top, then you can navigate through the folder structure to find the .msg files. Click the "Build msg" button to build the messages you want. + +# Message importers + +For a more automated workflow, you may find it useful to simply drag an entire ROS module folder into your Unity project. Unity will automatically find any .msg and .srv files in the folder structure, and convert them into C# message classes for you. And the classes will be updated if the .msg or .srv files change on disk. + +NB: The message generation system looks for a ROS package.xml to determine what code to generate, so if you're working this way it's recommended to import an entire ROS module, rather than individual .msg files, into your Unity project. diff --git a/README.md b/README.md index 45e6bba3..d7bc82ba 100644 --- a/README.md +++ b/README.md @@ -3,19 +3,19 @@ [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) ## Installation -1. Using Unity 2020.2 or later, open the package manager from `Window` -> `Package Manager` and select "Add package from git URL..." +1. Using Unity 2020.2 or later, open the package manager from `Window` -> `Package Manager` and select "Add package from git URL..." ![image](https://user-images.githubusercontent.com/29758400/110989310-8ea36180-8326-11eb-8318-f67ee200a23d.png) -2. Enter the following URL. If you don't want to use the latest version, substitute your desired version tag where we've put `v0.3.0` in this example: -`https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.3.0` +2. Enter the following URL. If you don't want to use the latest version, substitute your desired version tag where we've put `v0.4.0` in this example: +`https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.4.0` 3. Click `Add`. -## Tutorials +## Tutorials Scripts used to send [ROS](https://www.ros.org/) messages to an [TCP endpoint](https://github.com/Unity-Technologies/ROS_TCP_Endpoint) running as a ROS node. This Unity package provides three main features: -- ROSConnection: See the [Unity Robotics Hub](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/master/tutorials/ros_unity_integration/README.md) repository for information and tutorials on how to use this component. +- ROSConnection: See the [Unity Robotics Hub](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/README.md) repository for information and tutorials on how to use this component. - [Message Generation](MessageGeneration.md) @@ -27,16 +27,17 @@ Special thanks to the Siemens [ROS# Project Team]( https://github.com/siemens/ro ## Community and Feedback -The Unity Robotics projects are open-source and we encourage and welcome contributions. -If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) +The Unity Robotics projects are open-source and we encourage and welcome contributions. +If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) and [code of conduct](CODE_OF_CONDUCT.md). ## Support -For general questions, feedback, or feature requests, connect directly with the -Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com). +For questions or discussions about Unity Robotics package installations or how to best set up and integrate your robotics projects, please create a new thread on the [Unity Robotics forum](https://forum.unity.com/forums/robotics.623/) and make sure to include as much detail as possible. + +For feature requests, bugs, or other issues, please file a [GitHub issue](https://github.com/Unity-Technologies/ROS-TCP-Connector/issues) using the provided templates and the Robotics team will investigate as soon as possible. -For bugs or other issues, please file a GitHub issue and the Robotics team will -investigate the issue as soon as possible. +For any other questions or feedback, connect directly with the +Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com). ## License [Apache License 2.0](LICENSE) \ No newline at end of file diff --git a/ROSGeometry.md b/ROSGeometry.md index dd888e56..41357942 100644 --- a/ROSGeometry.md +++ b/ROSGeometry.md @@ -1,56 +1,56 @@ -# ROSGeometry component - -In Unity, the X axis points right, Y up, and Z forward. ROS, on the other hand, supports various coordinate frames: in the most commonly-used one, X points forward, Y left, and Z up. In ROS terminology, this frame is called "FLU" (forward, left, up), whereas the Unity coordinate frame would be "RUF" (right, up, forward). - -The ROSGeometry namespace contains code to make it easier to work with these various coordinate frames - letting you be explicit about what coordinates a given value is in at compile time, and managing the conversions for you. It does this with two generic structs, `Vector3` and `Quaternion`. The type parameter C indicates the coordinate frame you're working in - either FLU, or RUF, or perhaps a more exotic frame such as NED (north, east, down) or ENU (east, north, up), commonly used in aviation. - - -# Converting between frames: - -For example, if you need to convert an object's position into the FLU coordinate frame, you might write: - - Vector3 rosPos = obj.transform.position.To(); - -An explicit cast, or calling the constructor, would also produce the same result. - - Vector3 rosPos2 = (Vector3)obj.transform.position; - Vector3 rosPos3 = new Vector3(obj.transform.position); - -To convert back, just access the "toUnity" property on the vector. - - Vector3 unityPos = rosPos.toUnity; - -And the same functions apply for converting Quaternions. - -# Ros Message conversions: - -For convenience, `Vector3` has an implicit conversion into all three of the main ROS position message types: Point, Point32 and Vector3. Similarly, `Quaternion` has an implicit conversion to the ROS Quaternion message. Hence, writing 3d data into a message can often be as simple as writing: - - Imu msg = new Imu(); - msg.linear_acceleration = acceleration.To(); - msg.orientation = rigidbody.transform.rotation.To(); - msg.angular_velocity = rigidbody.angularVelocity.To(); - ros.Send("imu", msg); - -Note, the calls to `To()` above are essential. Normal Unity Vector3s or Quaternions do NOT have these conversions. You need to explicitly select a coordinate frame before converting to a ROS message. - -Unity's standard Transform class also has a `To()` extension method that returns a ROS Transform message. So sending a Transform message typically looks like: - - ros.Send("topic", obj.transform.To()); - -# Converting incoming messages - -You can also convert Points, Point32s and Vector3s back into Unity coordinates. To convert a Point in coordinate space C directly into a Unity Vector3, you can write `From`. For example: - - void SubscriberCallback(Point p) - { - transform.position = p.From(); - } - -Or, if you need to work with them in the FLU coordinate space for now, you can write: - - Vector3 rosPos = p.As(); - -(Note that this does NOT do any coordinate conversion. It simply assumes the point is in the FLU coordinate frame already, and transfers it into an appropriate container.) - -And again, the same goes for converting a Quaternion message into a Unity Quaternion or `Quaternion`. \ No newline at end of file +# ROSGeometry component + +In Unity, the X axis points right, Y up, and Z forward. ROS, on the other hand, supports various coordinate frames: in the most commonly-used one, X points forward, Y left, and Z up. In ROS terminology, this frame is called "FLU" (forward, left, up), whereas the Unity coordinate frame would be "RUF" (right, up, forward). + +The ROSGeometry namespace contains code to make it easier to work with these various coordinate frames - letting you be explicit about what coordinates a given value is in at compile time, and managing the conversions for you. It does this with two generic structs, `Vector3` and `Quaternion`. The type parameter C indicates the coordinate frame you're working in - either FLU, or RUF, or perhaps a more exotic frame such as NED (north, east, down) or ENU (east, north, up), commonly used in aviation. + + +# Converting between frames: + +For example, if you need to convert an object's position into the FLU coordinate frame, you might write: + + Vector3 rosPos = obj.transform.position.To(); + +An explicit cast, or calling the constructor, would also produce the same result. + + Vector3 rosPos2 = (Vector3)obj.transform.position; + Vector3 rosPos3 = new Vector3(obj.transform.position); + +To convert back, just access the "toUnity" property on the vector. + + Vector3 unityPos = rosPos.toUnity; + +And the same functions apply for converting Quaternions. + +# Ros Message conversions: + +For convenience, `Vector3` has an implicit conversion into all three of the main ROS position message types: Point, Point32 and Vector3. Similarly, `Quaternion` has an implicit conversion to the ROS Quaternion message. Hence, writing 3d data into a message can often be as simple as writing: + + Imu msg = new Imu(); + msg.linear_acceleration = acceleration.To(); + msg.orientation = rigidbody.transform.rotation.To(); + msg.angular_velocity = rigidbody.angularVelocity.To(); + ros.Send("imu", msg); + +Note, the calls to `To()` above are essential. Normal Unity Vector3s or Quaternions do NOT have these conversions. You need to explicitly select a coordinate frame before converting to a ROS message. + +Unity's standard Transform class also has a `To()` extension method that returns a ROS Transform message. So sending a Transform message typically looks like: + + ros.Send("topic", obj.transform.To()); + +# Converting incoming messages + +You can also convert Points, Point32s and Vector3s back into Unity coordinates. To convert a Point in coordinate space C directly into a Unity Vector3, you can write `From`. For example: + + void SubscriberCallback(Point p) + { + transform.position = p.From(); + } + +Or, if you need to work with them in the FLU coordinate space for now, you can write: + + Vector3 rosPos = p.As(); + +(Note that this does NOT do any coordinate conversion. It simply assumes the point is in the FLU coordinate frame already, and transfers it into an appropriate container.) + +And again, the same goes for converting a Quaternion message into a Unity Quaternion or `Quaternion`. diff --git a/TestRosTcpConnector/Packages/manifest.json b/TestRosTcpConnector/Packages/manifest.json index 865f8ad0..abb1543a 100644 --- a/TestRosTcpConnector/Packages/manifest.json +++ b/TestRosTcpConnector/Packages/manifest.json @@ -6,7 +6,8 @@ "com.unity.ide.vscode": "1.2.2", "com.unity.render-pipelines.universal": "10.0.0-preview.26", "com.unity.robotics.ros-tcp-connector": "file:../../com.unity.robotics.ros-tcp-connector", - "com.unity.test-framework": "1.1.18", + "com.unity.test-framework": "1.1.20", + "com.unity.testtools.codecoverage": "1.0.0", "com.unity.textmeshpro": "3.0.1", "com.unity.timeline": "1.4.3", "com.unity.ugui": "1.0.0", diff --git a/com.unity.robotics.ros-tcp-connector/CHANGELOG.md b/com.unity.robotics.ros-tcp-connector/CHANGELOG.md new file mode 100644 index 00000000..c432e511 --- /dev/null +++ b/com.unity.robotics.ros-tcp-connector/CHANGELOG.md @@ -0,0 +1,51 @@ +# Changelog + +All notable changes to this repository will be documented in this file. + +The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html). + +## Unreleased + +### Upgrade Notes + +### Known Issues + +### Added + +### Changed + +### Deprecated + +### Removed + +### Fixed + +## [0.4.0-preview] - 2021-05-27 + +Note: the logs only reflect the changes from 0.3.0-preview + +### Upgrade Notes + +RosConnection 2.0: maintain a single constant connection from Unity to the Endpoint. This is more efficient than opening one connection per message, and it eliminates a whole bunch of user issues caused by ROS being unable to connect to Unity due to firewalls, proxies, etc. + +### Known Issues + +### Added + +Add a link to the Robotics forum, and add a config.yml to add a link in the Github Issues page + +Add connection status lights to the HUD - blue if ok, bright blue if actively sending, red if there's a problem. Turning off "Connect on Startup" will allow to set the IP to connect + +Add lint and test coverage reporting + +### Changed + +Reduce character count for path to generated messages. The folder `Runtime/MessageGeneration/PregeneratedMessages` is moved to the parent directory and renamed `Runtime/Messages` + +### Deprecated + +### Removed + +### Fixed + +Correct the namespace for the MDuration class \ No newline at end of file diff --git a/com.unity.robotics.ros-tcp-connector/CHANGELOG.md.meta b/com.unity.robotics.ros-tcp-connector/CHANGELOG.md.meta new file mode 100644 index 00000000..93b329fa --- /dev/null +++ b/com.unity.robotics.ros-tcp-connector/CHANGELOG.md.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: f6792081d1ee04453853e977157551f7 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageGenBrowser.cs b/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageGenBrowser.cs index 82a91cf2..43c07aef 100644 --- a/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageGenBrowser.cs +++ b/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageGenBrowser.cs @@ -1,4 +1,4 @@ -using System.Collections.Generic; +using System.Collections.Generic; using System.IO; using System.Linq; using Unity.Robotics.ROSTCPConnector.MessageGeneration; @@ -269,7 +269,7 @@ CachedEntry CacheFolder(string path) if (numActions > 0) buildStrings.Add(numActions + " action" + (numActions > 1 ? "s" : "")); - if(buildStrings.Count > 0) + if (buildStrings.Count > 0) buildLabel = "Build " + string.Join(", ", buildStrings.Select(x => x.ToString())); return new CachedEntry() @@ -294,7 +294,7 @@ CachedEntryStatus GetFileStatus(string path) case ".action": string[] builtActionPaths = ActionAutoGen.GetActionClassPaths(path, MessageGenBrowserSettings.Get().outputPath); return builtActionPaths.All(file => File.Exists(file)) ? CachedEntryStatus.BuiltActionFile : CachedEntryStatus.UnbuiltActionFile; - } + } return CachedEntryStatus.Ignored; } diff --git a/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageGenBrowserSettings.cs b/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageGenBrowserSettings.cs index 01c92375..333f736f 100644 --- a/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageGenBrowserSettings.cs +++ b/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageGenBrowserSettings.cs @@ -48,7 +48,7 @@ public static string ToRelativePath(string fullPath) if (!fullPath.StartsWith(dataPath)) return ""; - return fullPath.Substring(dataPath.Length+1); + return fullPath.Substring(dataPath.Length + 1); } } } diff --git a/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/ScriptedMsgImporter.cs b/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/ScriptedMsgImporter.cs index 56d5191a..07c4b7dd 100644 --- a/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/ScriptedMsgImporter.cs +++ b/com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/ScriptedMsgImporter.cs @@ -15,15 +15,15 @@ public class ScriptedMsgImporter : ScriptedImporter { public override void OnImportAsset(AssetImportContext ctx) { - string inputPath = Path.Combine(Directory.GetCurrentDirectory(), ctx.assetPath); + string inputPath = Path.Combine(Directory.GetCurrentDirectory(), ctx.assetPath); string outputPath = MessageGenBrowserSettings.Get().outputPath; MessageAutoGen.GenerateSingleMessage(inputPath, outputPath); - + string builtPath = MessageAutoGen.GetMessageClassPath(inputPath, outputPath); string builtAssetPath = Path.Combine("Assets", MessageGenBrowserSettings.ToRelativePath(builtPath)); AssetDatabase.ImportAsset(builtAssetPath); Object messageClass = AssetDatabase.LoadAssetAtPath(builtAssetPath, typeof(MonoScript)); - if(messageClass != null) + if (messageClass != null) ctx.AddObjectToAsset("messageClass", messageClass); } } diff --git a/com.unity.robotics.ros-tcp-connector/Editor/ROSSettingsEditor.cs b/com.unity.robotics.ros-tcp-connector/Editor/ROSSettingsEditor.cs index 7fd13302..18e06bf8 100644 --- a/com.unity.robotics.ros-tcp-connector/Editor/ROSSettingsEditor.cs +++ b/com.unity.robotics.ros-tcp-connector/Editor/ROSSettingsEditor.cs @@ -39,45 +39,38 @@ protected virtual void OnGUI() } } + prefab.ConnectOnStart = EditorGUILayout.Toggle("Connect on Startup", prefab.ConnectOnStart); + EditorGUILayout.LabelField("Settings for a new ROSConnection.instance", EditorStyles.boldLabel); - prefab.rosIPAddress = EditorGUILayout.TextField("ROS IP Address", prefab.rosIPAddress); - prefab.rosPort = EditorGUILayout.IntField("ROS Port", prefab.rosPort); + prefab.RosIPAddress = EditorGUILayout.TextField("ROS IP Address", prefab.RosIPAddress); + prefab.RosPort = EditorGUILayout.IntField("ROS Port", prefab.RosPort); EditorGUILayout.Space(); - prefab.overrideUnityIP = EditorGUILayout.TextField( - new GUIContent("Override Unity IP Address", "If blank, determine IP automatically."), - prefab.overrideUnityIP); - prefab.unityPort = EditorGUILayout.IntField("Unity Port", prefab.unityPort); - if ((prefab.overrideUnityIP != "" && !ROSConnection.IPFormatIsCorrect(prefab.overrideUnityIP))) - { - EditorGUILayout.HelpBox("Unity Override IP invalid", MessageType.Warning); - } - if(!ROSConnection.IPFormatIsCorrect(prefab.rosIPAddress)) + if (!ROSConnection.IPFormatIsCorrect(prefab.RosIPAddress)) { EditorGUILayout.HelpBox("ROS IP is invalid", MessageType.Warning); } + EditorGUILayout.Space(); - EditorGUILayout.LabelField("If awaiting a service response:", EditorStyles.boldLabel); - prefab.awaitDataMaxRetries = EditorGUILayout.IntField( - new GUIContent("Max Service Retries", - "While waiting for a service to respond, check this many times before giving up."), - prefab.awaitDataMaxRetries); - prefab.awaitDataSleepSeconds = EditorGUILayout.FloatField( - new GUIContent("Sleep (seconds)", - "While waiting for a service to respond, wait this many seconds between checks."), - prefab.awaitDataSleepSeconds); - prefab.readChunkSize = EditorGUILayout.IntField( - new GUIContent("Read chunk size", - "While reading received messages, read this many bytes at a time."), - prefab.readChunkSize); - prefab.awaitDataReadRetry = EditorGUILayout.IntField( - new GUIContent("Max Read retries", - "While waiting to read a full message, check this many times before giving up."), - prefab.awaitDataReadRetry); - prefab.timeoutOnIdle = EditorGUILayout.FloatField( - new GUIContent("Timeout on idle (seconds)", - "If no messages have been sent for this long, close the connection."), - prefab.timeoutOnIdle); + + prefab.ShowHud = EditorGUILayout.Toggle("Show HUD", prefab.ShowHud); + + EditorGUILayout.Space(); + + prefab.KeepaliveTime = EditorGUILayout.FloatField( + new GUIContent("KeepAlive time (secs)", + "If no other messages are being sent, test the connection this often. (The longer this time is, the longer it will take for ROSConnection to notice the Endpoint has stopped responding)."), + prefab.KeepaliveTime); + + prefab.NetworkTimeoutSeconds = EditorGUILayout.FloatField( + new GUIContent("Network timeout (secs)", + "If a network message takes this long to send, assume the connection has failed. (The longer this time is, the longer it will take for ROSConnection to notice the Endpoint has stopped responding)."), + prefab.NetworkTimeoutSeconds); + + prefab.SleepTimeSeconds = EditorGUILayout.FloatField( + new GUIContent("Sleep time (secs)", + "Sleep this long before checking for new network messages. (Decreasing this time will make it respond faster, but consume more CPU)."), + prefab.SleepTimeSeconds); if (GUI.changed) { @@ -85,4 +78,4 @@ protected virtual void OnGUI() } } } -} \ No newline at end of file +} diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Action.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Action.cs index f2b573be..8938deeb 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Action.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Action.cs @@ -1,4 +1,4 @@ -/* +/* © Siemens AG, 2019 Author: Sifan Ye (sifan.ye@siemens.com) @@ -16,8 +16,8 @@ limitations under the License. namespace Unity.Robotics.ROSTCPConnector.MessageGeneration { public abstract class Action : Message - where TActionGoal: ActionGoal - where TActionResult: ActionResult + where TActionGoal : ActionGoal + where TActionResult : ActionResult where TActionFeedback : ActionFeedback where TGoal : Message where TResult : Message @@ -29,7 +29,8 @@ public abstract class Action : Message where TGoal : Message public MGoalID goal_id { get; set; } public TGoal goal { get; set; } - public ActionGoal() { + public ActionGoal() + { header = new MHeader(); goal_id = new MGoalID(); } - public ActionGoal(MHeader header, MGoalID goal_id) { + public ActionGoal(MHeader header, MGoalID goal_id) + { this.header = header; this.goal_id = goal_id; } diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ActionResult.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ActionResult.cs index fd57cc36..706e6a3e 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ActionResult.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ActionResult.cs @@ -1,4 +1,4 @@ -/* +/* © Siemens AG, 2019 Author: Sifan Ye (sifan.ye@siemens.com) @@ -25,12 +25,14 @@ public abstract class ActionResult : Message where TResult : Message public MGoalStatus status { get; set; } public TResult result { get; set; } - public ActionResult() { + public ActionResult() + { header = new MHeader(); status = new MGoalStatus(); } - public ActionResult(MHeader header, MGoalStatus status) { + public ActionResult(MHeader header, MGoalStatus status) + { this.header = header; this.status = status; } diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Message.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Message.cs index 6a825e11..cfb948dd 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Message.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Message.cs @@ -90,4 +90,4 @@ public byte[] Serialize(bool omitMessageSize = true) /// The offset which a subsequent Deserialize function can begin reading from. public abstract int Deserialize(byte[] data, int offset); } -} \ No newline at end of file +} diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageAutoGen.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageAutoGen.cs index ba591b2f..ae11e7bb 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageAutoGen.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageAutoGen.cs @@ -1,4 +1,4 @@ -/* +/* © Siemens AG, 2019 Author: Sifan Ye (sifan.ye@siemens.com) Licensed under the Apache License, Version 2.0 (the "License"); @@ -38,7 +38,7 @@ public static string GetRosPackageName(string messagePath) if (File.Exists(packagePath)) { XmlReader reader = XmlReader.Create(File.OpenRead(packagePath)); - while(reader.Read()) + while (reader.Read()) { if (reader.NodeType == XmlNodeType.Element && reader.Name == "name") { @@ -78,7 +78,7 @@ public static string GetMessageClassPath(string inFilePath, string outPath) public static List GenerateSingleMessage(string inPath, string outPath, string rosPackageName = "", bool verbose = false) { // If no ROS package name is provided, extract from path - if(rosPackageName == "") + if (rosPackageName == "") rosPackageName = GetRosPackageName(inPath); outPath = GetMessageOutFolder(outPath, rosPackageName); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageParser.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageParser.cs index b3b0d9eb..1e60a790 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageParser.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageParser.cs @@ -1,4 +1,4 @@ -/* +/* © Siemens AG, 2019 Author: Sifan Ye (sifan.ye@siemens.com) Licensed under the Apache License, Version 2.0 (the "License"); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageToken.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageToken.cs index a437f9a2..cf8701f8 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageToken.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageToken.cs @@ -1,4 +1,4 @@ -/* +/* © Siemens AG, 2019 Author: Sifan Ye (sifan.ye@siemens.com) Licensed under the Apache License, Version 2.0 (the "License"); @@ -49,4 +49,4 @@ public enum MessageTokenType Seperator } -} \ No newline at end of file +} diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageTokenizer.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageTokenizer.cs index 953f14f0..5c1b82eb 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageTokenizer.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MessageTokenizer.cs @@ -1,4 +1,4 @@ -/* +/* © Siemens AG, 2019 Author: Sifan Ye (sifan.ye@siemens.com) Licensed under the Apache License, Version 2.0 (the "License"); @@ -415,4 +415,4 @@ public class MessageTokenizerException : Exception { public MessageTokenizerException(string msg) : base(msg) { } } -} \ No newline at end of file +} diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MsgAutoGenUtilities.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MsgAutoGenUtilities.cs index 009ccc06..691a9407 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MsgAutoGenUtilities.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/MsgAutoGenUtilities.cs @@ -1,4 +1,4 @@ -/* +/* © Siemens AG, 2019 Author: Sifan Ye (sifan.ye@siemens.com) Licensed under the Apache License, Version 2.0 (the "License"); @@ -63,7 +63,7 @@ public class MsgAutoGenUtilities {"Duration", "new Duration()"} }; - public static readonly Dictionary numericTypeDeserializationFunctions = new Dictionary + public static readonly Dictionary numericTypeDeserializationFunctions = new Dictionary { {"sbyte", "(sbyte)data[offset];"}, {"byte", "data[offset];"}, @@ -79,7 +79,7 @@ public class MsgAutoGenUtilities {"ulong", "BitConverter.ToUInt64(data, offset)"} }; - public static readonly Dictionary numericTypeByteSize = new Dictionary + public static readonly Dictionary numericTypeByteSize = new Dictionary { {"sbyte", 1}, {"byte", 1}, @@ -115,7 +115,8 @@ public static string CapitalizeFirstLetter(string s) return Char.ToUpper(s[0]) + s.Substring(1); } - public static string LowerFirstLetter(string s) { + public static string LowerFirstLetter(string s) + { return Char.ToLower(s[0]) + s.Substring(1); } diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeRequest.cs deleted file mode 100644 index 0f8e3c35..00000000 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeRequest.cs +++ /dev/null @@ -1,56 +0,0 @@ -//Do not edit! This file was generated by Unity-ROS MessageGeneration. -using System; -using System.Linq; -using System.Collections.Generic; -using System.Text; -using Unity.Robotics.ROSTCPConnector.MessageGeneration; - -namespace RosMessageTypes.RosTcpEndpoint -{ - public class MUnityHandshakeRequest : Message - { - public const string RosMessageName = "Ros_Tcp_Endpoint/UnityHandshake"; - - public string ip; - public ushort port; - - public MUnityHandshakeRequest() - { - this.ip = ""; - this.port = 0; - } - - public MUnityHandshakeRequest(string ip, ushort port) - { - this.ip = ip; - this.port = port; - } - public override List SerializationStatements() - { - var listOfSerializations = new List(); - listOfSerializations.Add(SerializeString(this.ip)); - listOfSerializations.Add(BitConverter.GetBytes(this.port)); - - return listOfSerializations; - } - - public override int Deserialize(byte[] data, int offset) - { - var ipStringBytesLength = DeserializeLength(data, offset); - offset += 4; - this.ip = DeserializeString(data, offset, ipStringBytesLength); - offset += ipStringBytesLength; - this.port = BitConverter.ToUInt16(data, offset); - offset += 2; - - return offset; - } - - public override string ToString() - { - return "MUnityHandshakeRequest: " + - "\nip: " + ip.ToString() + - "\nport: " + port.ToString(); - } - } -} diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeResponse.cs deleted file mode 100644 index e2191fec..00000000 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeResponse.cs +++ /dev/null @@ -1,49 +0,0 @@ -//Do not edit! This file was generated by Unity-ROS MessageGeneration. -using System; -using System.Linq; -using System.Collections.Generic; -using System.Text; -using Unity.Robotics.ROSTCPConnector.MessageGeneration; - -namespace RosMessageTypes.RosTcpEndpoint -{ - public class MUnityHandshakeResponse : Message - { - public const string RosMessageName = "Ros_Tcp_Endpoint/UnityHandshake"; - - public string ip; - - public MUnityHandshakeResponse() - { - this.ip = ""; - } - - public MUnityHandshakeResponse(string ip) - { - this.ip = ip; - } - public override List SerializationStatements() - { - var listOfSerializations = new List(); - listOfSerializations.Add(SerializeString(this.ip)); - - return listOfSerializations; - } - - public override int Deserialize(byte[] data, int offset) - { - var ipStringBytesLength = DeserializeLength(data, offset); - offset += 4; - this.ip = DeserializeString(data, offset, ipStringBytesLength); - offset += ipStringBytesLength; - - return offset; - } - - public override string ToString() - { - return "MUnityHandshakeResponse: " + - "\nip: " + ip.ToString(); - } - } -} diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ServiceAutoGen.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ServiceAutoGen.cs index f4b8ba0d..c3fea46e 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ServiceAutoGen.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ServiceAutoGen.cs @@ -1,4 +1,4 @@ -/* +/* © Siemens AG, 2019 Author: Sifan Ye (sifan.ye@siemens.com) Licensed under the Apache License, Version 2.0 (the "License"); @@ -20,7 +20,7 @@ namespace Unity.Robotics.ROSTCPConnector.MessageGeneration { public class ServiceAutoGen { - private static readonly string[] types = {"Request", "Response"}; + private static readonly string[] types = { "Request", "Response" }; public static string[] GetServiceClassPaths(string inFilePath, string outPath) { @@ -79,7 +79,8 @@ public static List GenerateSingleService(string inPath, string outPath, return warnings; } - public static List GeneratePackageServices(string inPath, string outPath, string rosPackageName = "", bool verbose = false) { + public static List GeneratePackageServices(string inPath, string outPath, string rosPackageName = "", bool verbose = false) + { List warnings = new List(); string[] files = Directory.GetFiles(Path.Combine(inPath, "srv"), "*.srv"); @@ -89,7 +90,8 @@ public static List GeneratePackageServices(string inPath, string outPath Console.Error.WriteLine("No service files found!"); return warnings; } - else { + else + { if (verbose) { Console.WriteLine("Found " + files.Length + " service files."); @@ -103,7 +105,8 @@ public static List GeneratePackageServices(string inPath, string outPath return warnings; } - public static List GenerateDirectoryServices(string inPath, string outPath, bool verbose = false) { + public static List GenerateDirectoryServices(string inPath, string outPath, bool verbose = false) + { List warnings = new List(); if (inPath.EndsWith("/") || inPath.EndsWith("\\")) diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalID.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalID.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalID.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalID.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalID.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalID.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalID.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalID.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalStatus.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalStatus.cs similarity index 97% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalStatus.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalStatus.cs index 2201e3f5..8a55d6b6 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalStatus.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalStatus.cs @@ -50,7 +50,7 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(goal_id.SerializationStatements()); - listOfSerializations.Add(new[]{this.status}); + listOfSerializations.Add(new[] { this.status }); listOfSerializations.Add(SerializeString(this.text)); return listOfSerializations; @@ -59,7 +59,7 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.goal_id.Deserialize(data, offset); - this.status = data[offset];; + this.status = data[offset]; ; offset += 1; var textStringBytesLength = DeserializeLength(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalStatus.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalStatus.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalStatus.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalStatus.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalStatusArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalStatusArray.cs similarity index 90% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalStatusArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalStatusArray.cs index b6c49ecd..09ff0af0 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalStatusArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalStatusArray.cs @@ -32,9 +32,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(status_list.Length)); - foreach(var entry in status_list) + foreach (var entry in status_list) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -43,11 +43,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var status_listArrayLength = DeserializeLength(data, offset); offset += 4; - this.status_list= new MGoalStatus[status_listArrayLength]; - for(var i = 0; i < status_listArrayLength; i++) + this.status_list = new MGoalStatus[status_listArrayLength]; + for (var i = 0; i < status_listArrayLength; i++) { this.status_list[i] = new MGoalStatus(); offset = this.status_list[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalStatusArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalStatusArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Actionlib/msg/MGoalStatusArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Actionlib/msg/MGoalStatusArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MDiagnosticArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MDiagnosticArray.cs similarity index 91% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MDiagnosticArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MDiagnosticArray.cs index af9346da..151a8390 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MDiagnosticArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MDiagnosticArray.cs @@ -33,9 +33,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(status.Length)); - foreach(var entry in status) + foreach (var entry in status) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -44,11 +44,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var statusArrayLength = DeserializeLength(data, offset); offset += 4; - this.status= new MDiagnosticStatus[statusArrayLength]; - for(var i = 0; i < statusArrayLength; i++) + this.status = new MDiagnosticStatus[statusArrayLength]; + for (var i = 0; i < statusArrayLength; i++) { this.status[i] = new MDiagnosticStatus(); offset = this.status[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MDiagnosticArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MDiagnosticArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MDiagnosticArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MDiagnosticArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MDiagnosticStatus.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MDiagnosticStatus.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MDiagnosticStatus.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MDiagnosticStatus.cs index 9548ab0b..8fdb7315 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MDiagnosticStatus.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MDiagnosticStatus.cs @@ -49,13 +49,13 @@ public MDiagnosticStatus(sbyte level, string name, string message, string hardwa public override List SerializationStatements() { var listOfSerializations = new List(); - listOfSerializations.Add(new[]{(byte)this.level}); + listOfSerializations.Add(new[] { (byte)this.level }); listOfSerializations.Add(SerializeString(this.name)); listOfSerializations.Add(SerializeString(this.message)); listOfSerializations.Add(SerializeString(this.hardware_id)); - + listOfSerializations.Add(BitConverter.GetBytes(values.Length)); - foreach(var entry in values) + foreach (var entry in values) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -63,7 +63,7 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - this.level = (sbyte)data[offset];; + this.level = (sbyte)data[offset]; ; offset += 1; var nameStringBytesLength = DeserializeLength(data, offset); offset += 4; @@ -77,11 +77,11 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.hardware_id = DeserializeString(data, offset, hardware_idStringBytesLength); offset += hardware_idStringBytesLength; - + var valuesArrayLength = DeserializeLength(data, offset); offset += 4; - this.values= new MKeyValue[valuesArrayLength]; - for(var i = 0; i < valuesArrayLength; i++) + this.values = new MKeyValue[valuesArrayLength]; + for (var i = 0; i < valuesArrayLength; i++) { this.values[i] = new MKeyValue(); offset = this.values[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MDiagnosticStatus.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MDiagnosticStatus.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MDiagnosticStatus.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MDiagnosticStatus.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MKeyValue.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MKeyValue.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MKeyValue.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MKeyValue.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MKeyValue.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MKeyValue.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/msg/MKeyValue.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/msg/MKeyValue.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MAddDiagnosticsRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MAddDiagnosticsRequest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MAddDiagnosticsRequest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MAddDiagnosticsRequest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MAddDiagnosticsRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MAddDiagnosticsRequest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MAddDiagnosticsRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MAddDiagnosticsRequest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MAddDiagnosticsResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MAddDiagnosticsResponse.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MAddDiagnosticsResponse.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MAddDiagnosticsResponse.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MAddDiagnosticsResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MAddDiagnosticsResponse.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MAddDiagnosticsResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MAddDiagnosticsResponse.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MSelfTestRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MSelfTestRequest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MSelfTestRequest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MSelfTestRequest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MSelfTestRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MSelfTestRequest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MSelfTestRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MSelfTestRequest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MSelfTestResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MSelfTestResponse.cs similarity index 87% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MSelfTestResponse.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MSelfTestResponse.cs index cc84278d..d779b4d4 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MSelfTestResponse.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MSelfTestResponse.cs @@ -32,10 +32,10 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.Add(SerializeString(this.id)); - listOfSerializations.Add(new[]{(byte)this.passed}); - + listOfSerializations.Add(new[] { (byte)this.passed }); + listOfSerializations.Add(BitConverter.GetBytes(status.Length)); - foreach(var entry in status) + foreach (var entry in status) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -47,13 +47,13 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.id = DeserializeString(data, offset, idStringBytesLength); offset += idStringBytesLength; - this.passed = (sbyte)data[offset];; + this.passed = (sbyte)data[offset]; ; offset += 1; - + var statusArrayLength = DeserializeLength(data, offset); offset += 4; - this.status= new MDiagnosticStatus[statusArrayLength]; - for(var i = 0; i < statusArrayLength; i++) + this.status = new MDiagnosticStatus[statusArrayLength]; + for (var i = 0; i < statusArrayLength; i++) { this.status[i] = new MDiagnosticStatus(); offset = this.status[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MSelfTestResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MSelfTestResponse.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Diagnostic/srv/MSelfTestResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Diagnostic/srv/MSelfTestResponse.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccel.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccel.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccel.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccel.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccel.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccel.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccel.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccel.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelWithCovariance.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelWithCovariance.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelWithCovariance.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelWithCovariance.cs index ff6f852c..a0d4cf97 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelWithCovariance.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelWithCovariance.cs @@ -34,9 +34,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(accel.SerializationStatements()); - + Array.Resize(ref covariance, 36); - foreach(var entry in covariance) + foreach (var entry in covariance) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -45,9 +45,9 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.accel.Deserialize(data, offset); - - this.covariance= new double[36]; - for(var i = 0; i < 36; i++) + + this.covariance = new double[36]; + for (var i = 0; i < 36; i++) { this.covariance[i] = BitConverter.ToDouble(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelWithCovariance.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelWithCovariance.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelWithCovariance.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelWithCovariance.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelWithCovarianceStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelWithCovarianceStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelWithCovarianceStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelWithCovarianceStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelWithCovarianceStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelWithCovarianceStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MAccelWithCovarianceStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MAccelWithCovarianceStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MInertia.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MInertia.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MInertia.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MInertia.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MInertia.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MInertia.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MInertia.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MInertia.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MInertiaStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MInertiaStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MInertiaStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MInertiaStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MInertiaStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MInertiaStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MInertiaStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MInertiaStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoint.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoint.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoint.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoint.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoint.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoint.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoint.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoint.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoint32.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoint32.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoint32.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoint32.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoint32.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoint32.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoint32.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoint32.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPointStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPointStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPointStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPointStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPointStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPointStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPointStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPointStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPolygon.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPolygon.cs similarity index 89% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPolygon.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPolygon.cs index 66424ea4..0fea1531 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPolygon.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPolygon.cs @@ -26,9 +26,9 @@ public MPolygon(MPoint32[] points) public override List SerializationStatements() { var listOfSerializations = new List(); - + listOfSerializations.Add(BitConverter.GetBytes(points.Length)); - foreach(var entry in points) + foreach (var entry in points) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -36,11 +36,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - + var pointsArrayLength = DeserializeLength(data, offset); offset += 4; - this.points= new MPoint32[pointsArrayLength]; - for(var i = 0; i < pointsArrayLength; i++) + this.points = new MPoint32[pointsArrayLength]; + for (var i = 0; i < pointsArrayLength; i++) { this.points[i] = new MPoint32(); offset = this.points[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPolygon.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPolygon.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPolygon.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPolygon.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPolygonStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPolygonStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPolygonStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPolygonStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPolygonStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPolygonStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPolygonStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPolygonStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPose.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPose.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPose.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPose.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPose.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPose.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPose.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPose.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPose2D.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPose2D.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPose2D.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPose2D.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPose2D.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPose2D.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPose2D.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPose2D.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseArray.cs similarity index 91% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseArray.cs index 5051ea1b..77183f54 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseArray.cs @@ -31,9 +31,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(poses.Length)); - foreach(var entry in poses) + foreach (var entry in poses) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -42,11 +42,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var posesArrayLength = DeserializeLength(data, offset); offset += 4; - this.poses= new MPose[posesArrayLength]; - for(var i = 0; i < posesArrayLength; i++) + this.poses = new MPose[posesArrayLength]; + for (var i = 0; i < posesArrayLength; i++) { this.poses[i] = new MPose(); offset = this.poses[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseWithCovariance.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseWithCovariance.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseWithCovariance.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseWithCovariance.cs index 0923ffdf..9f425da9 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseWithCovariance.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseWithCovariance.cs @@ -34,9 +34,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(pose.SerializationStatements()); - + Array.Resize(ref covariance, 36); - foreach(var entry in covariance) + foreach (var entry in covariance) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -45,9 +45,9 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.pose.Deserialize(data, offset); - - this.covariance= new double[36]; - for(var i = 0; i < 36; i++) + + this.covariance = new double[36]; + for (var i = 0; i < 36; i++) { this.covariance[i] = BitConverter.ToDouble(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseWithCovariance.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseWithCovariance.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseWithCovariance.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseWithCovariance.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseWithCovarianceStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseWithCovarianceStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseWithCovarianceStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseWithCovarianceStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseWithCovarianceStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseWithCovarianceStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MPoseWithCovarianceStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MPoseWithCovarianceStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MQuaternion.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MQuaternion.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MQuaternion.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MQuaternion.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MQuaternion.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MQuaternion.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MQuaternion.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MQuaternion.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MQuaternionStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MQuaternionStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MQuaternionStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MQuaternionStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MQuaternionStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MQuaternionStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MQuaternionStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MQuaternionStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTransform.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTransform.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTransform.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTransform.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTransform.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTransform.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTransform.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTransform.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTransformStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTransformStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTransformStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTransformStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTransformStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTransformStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTransformStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTransformStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwist.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwist.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwist.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwist.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwist.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwist.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwist.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwist.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistWithCovariance.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistWithCovariance.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistWithCovariance.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistWithCovariance.cs index b21eb4d3..15aabac1 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistWithCovariance.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistWithCovariance.cs @@ -34,9 +34,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(twist.SerializationStatements()); - + Array.Resize(ref covariance, 36); - foreach(var entry in covariance) + foreach (var entry in covariance) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -45,9 +45,9 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.twist.Deserialize(data, offset); - - this.covariance= new double[36]; - for(var i = 0; i < 36; i++) + + this.covariance = new double[36]; + for (var i = 0; i < 36; i++) { this.covariance[i] = BitConverter.ToDouble(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistWithCovariance.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistWithCovariance.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistWithCovariance.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistWithCovariance.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistWithCovarianceStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistWithCovarianceStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistWithCovarianceStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistWithCovarianceStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistWithCovarianceStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistWithCovarianceStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MTwistWithCovarianceStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MTwistWithCovarianceStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MVector3.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MVector3.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MVector3.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MVector3.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MVector3.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MVector3.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MVector3.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MVector3.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MVector3Stamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MVector3Stamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MVector3Stamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MVector3Stamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MVector3Stamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MVector3Stamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MVector3Stamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MVector3Stamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MWrench.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MWrench.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MWrench.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MWrench.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MWrench.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MWrench.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MWrench.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MWrench.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MWrenchStamped.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MWrenchStamped.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MWrenchStamped.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MWrenchStamped.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MWrenchStamped.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MWrenchStamped.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Geometry/msg/MWrenchStamped.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Geometry/msg/MWrenchStamped.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapAction.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapAction.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapAction.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapAction.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapAction.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapAction.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapAction.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapAction.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionFeedback.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionFeedback.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionFeedback.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionFeedback.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionFeedback.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionFeedback.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionFeedback.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionFeedback.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionGoal.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionGoal.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionGoal.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionGoal.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionGoal.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionGoal.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionGoal.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionGoal.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionResult.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionResult.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionResult.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionResult.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionResult.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionResult.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapActionResult.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapActionResult.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapFeedback.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapFeedback.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapFeedback.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapFeedback.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapFeedback.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapFeedback.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapFeedback.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapFeedback.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapGoal.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapGoal.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapGoal.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapGoal.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapGoal.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapGoal.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapGoal.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapGoal.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapResult.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapResult.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapResult.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapResult.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapResult.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapResult.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/action/MGetMapResult.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/action/MGetMapResult.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MGridCells.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MGridCells.cs similarity index 93% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MGridCells.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MGridCells.cs index e9c8189b..437f700a 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MGridCells.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MGridCells.cs @@ -39,9 +39,9 @@ public override List SerializationStatements() listOfSerializations.AddRange(header.SerializationStatements()); listOfSerializations.Add(BitConverter.GetBytes(this.cell_width)); listOfSerializations.Add(BitConverter.GetBytes(this.cell_height)); - + listOfSerializations.Add(BitConverter.GetBytes(cells.Length)); - foreach(var entry in cells) + foreach (var entry in cells) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -54,11 +54,11 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.cell_height = BitConverter.ToSingle(data, offset); offset += 4; - + var cellsArrayLength = DeserializeLength(data, offset); offset += 4; - this.cells= new Geometry.MPoint[cellsArrayLength]; - for(var i = 0; i < cellsArrayLength; i++) + this.cells = new Geometry.MPoint[cellsArrayLength]; + for (var i = 0; i < cellsArrayLength; i++) { this.cells[i] = new Geometry.MPoint(); offset = this.cells[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MGridCells.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MGridCells.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MGridCells.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MGridCells.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MMapMetaData.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MMapMetaData.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MMapMetaData.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MMapMetaData.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MMapMetaData.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MMapMetaData.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MMapMetaData.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MMapMetaData.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MOccupancyGrid.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MOccupancyGrid.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MOccupancyGrid.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MOccupancyGrid.cs index f805e585..6d9c3e8f 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MOccupancyGrid.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MOccupancyGrid.cs @@ -39,9 +39,9 @@ public override List SerializationStatements() var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); listOfSerializations.AddRange(info.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - listOfSerializations.Add((byte[]) (Array)this.data); + listOfSerializations.Add((byte[])(Array)this.data); return listOfSerializations; } @@ -50,11 +50,11 @@ public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); offset = this.info.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new sbyte[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new sbyte[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = (sbyte)data[offset]; offset += 1; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MOccupancyGrid.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MOccupancyGrid.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MOccupancyGrid.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MOccupancyGrid.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MOdometry.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MOdometry.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MOdometry.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MOdometry.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MOdometry.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MOdometry.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MOdometry.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MOdometry.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MPath.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MPath.cs similarity index 90% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MPath.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MPath.cs index 6d5c8d5e..cc057cf7 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MPath.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MPath.cs @@ -31,9 +31,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(poses.Length)); - foreach(var entry in poses) + foreach (var entry in poses) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -42,11 +42,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var posesArrayLength = DeserializeLength(data, offset); offset += 4; - this.poses= new Geometry.MPoseStamped[posesArrayLength]; - for(var i = 0; i < posesArrayLength; i++) + this.poses = new Geometry.MPoseStamped[posesArrayLength]; + for (var i = 0; i < posesArrayLength; i++) { this.poses[i] = new Geometry.MPoseStamped(); offset = this.poses[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MPath.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MPath.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/msg/MPath.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/msg/MPath.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetMapRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetMapRequest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetMapRequest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetMapRequest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetMapRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetMapRequest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetMapRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetMapRequest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetMapResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetMapResponse.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetMapResponse.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetMapResponse.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetMapResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetMapResponse.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetMapResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetMapResponse.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetPlanRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetPlanRequest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetPlanRequest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetPlanRequest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetPlanRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetPlanRequest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetPlanRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetPlanRequest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetPlanResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetPlanResponse.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetPlanResponse.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetPlanResponse.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetPlanResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetPlanResponse.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MGetPlanResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MGetPlanResponse.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MLoadMapRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MLoadMapRequest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MLoadMapRequest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MLoadMapRequest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MLoadMapRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MLoadMapRequest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MLoadMapRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MLoadMapRequest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MLoadMapResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MLoadMapResponse.cs similarity index 94% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MLoadMapResponse.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MLoadMapResponse.cs index 3337e69b..916d19ca 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MLoadMapResponse.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MLoadMapResponse.cs @@ -36,7 +36,7 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(map.SerializationStatements()); - listOfSerializations.Add(new[]{this.result}); + listOfSerializations.Add(new[] { this.result }); return listOfSerializations; } @@ -44,7 +44,7 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.map.Deserialize(data, offset); - this.result = data[offset];; + this.result = data[offset]; ; offset += 1; return offset; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MLoadMapResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MLoadMapResponse.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MLoadMapResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MLoadMapResponse.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MSetMapRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MSetMapRequest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MSetMapRequest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MSetMapRequest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MSetMapRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MSetMapRequest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MSetMapRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MSetMapRequest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MSetMapResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MSetMapResponse.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MSetMapResponse.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MSetMapResponse.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MSetMapResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MSetMapResponse.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Nav/srv/MSetMapResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Nav/srv/MSetMapResponse.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionAction.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionAction.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionAction.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionAction.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionAction.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionAction.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionAction.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionAction.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionFeedback.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionFeedback.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionFeedback.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionFeedback.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionFeedback.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionFeedback.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionFeedback.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionFeedback.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionGoal.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionGoal.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionGoal.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionGoal.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionGoal.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionGoal.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionGoal.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionGoal.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionResult.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionResult.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionResult.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionResult.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionResult.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionResult.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionActionResult.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionActionResult.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionFeedback.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionFeedback.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionFeedback.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionFeedback.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionFeedback.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionFeedback.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionFeedback.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionFeedback.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionGoal.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionGoal.cs similarity index 90% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionGoal.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionGoal.cs index 2606c581..6367144a 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionGoal.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionGoal.cs @@ -30,9 +30,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.Add(BitConverter.GetBytes(this.use_roi)); - + listOfSerializations.Add(BitConverter.GetBytes(filter_limits.Length)); - foreach(var entry in filter_limits) + foreach (var entry in filter_limits) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -42,11 +42,11 @@ public override int Deserialize(byte[] data, int offset) { this.use_roi = BitConverter.ToBoolean(data, offset); offset += 1; - + var filter_limitsArrayLength = DeserializeLength(data, offset); offset += 4; - this.filter_limits= new float[filter_limitsArrayLength]; - for(var i = 0; i < filter_limitsArrayLength; i++) + this.filter_limits = new float[filter_limitsArrayLength]; + for (var i = 0; i < filter_limitsArrayLength; i++) { this.filter_limits[i] = BitConverter.ToSingle(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionGoal.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionGoal.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionGoal.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionGoal.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionResult.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionResult.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionResult.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionResult.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionResult.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionResult.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/action/MObjectRecognitionResult.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/action/MObjectRecognitionResult.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MObjectInformation.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MObjectInformation.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MObjectInformation.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MObjectInformation.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MObjectInformation.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MObjectInformation.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MObjectInformation.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MObjectInformation.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MObjectType.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MObjectType.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MObjectType.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MObjectType.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MObjectType.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MObjectType.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MObjectType.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MObjectType.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MRecognizedObject.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MRecognizedObject.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MRecognizedObject.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MRecognizedObject.cs index ad5c497c..486ba5bd 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MRecognizedObject.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MRecognizedObject.cs @@ -66,14 +66,14 @@ public override List SerializationStatements() listOfSerializations.AddRange(header.SerializationStatements()); listOfSerializations.AddRange(type.SerializationStatements()); listOfSerializations.Add(BitConverter.GetBytes(this.confidence)); - + listOfSerializations.Add(BitConverter.GetBytes(point_clouds.Length)); - foreach(var entry in point_clouds) + foreach (var entry in point_clouds) listOfSerializations.Add(entry.Serialize()); listOfSerializations.AddRange(bounding_mesh.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(bounding_contours.Length)); - foreach(var entry in bounding_contours) + foreach (var entry in bounding_contours) listOfSerializations.Add(entry.Serialize()); listOfSerializations.AddRange(pose.SerializationStatements()); @@ -86,21 +86,21 @@ public override int Deserialize(byte[] data, int offset) offset = this.type.Deserialize(data, offset); this.confidence = BitConverter.ToSingle(data, offset); offset += 4; - + var point_cloudsArrayLength = DeserializeLength(data, offset); offset += 4; - this.point_clouds= new Sensor.MPointCloud2[point_cloudsArrayLength]; - for(var i = 0; i < point_cloudsArrayLength; i++) + this.point_clouds = new Sensor.MPointCloud2[point_cloudsArrayLength]; + for (var i = 0; i < point_cloudsArrayLength; i++) { this.point_clouds[i] = new Sensor.MPointCloud2(); offset = this.point_clouds[i].Deserialize(data, offset); } offset = this.bounding_mesh.Deserialize(data, offset); - + var bounding_contoursArrayLength = DeserializeLength(data, offset); offset += 4; - this.bounding_contours= new Geometry.MPoint[bounding_contoursArrayLength]; - for(var i = 0; i < bounding_contoursArrayLength; i++) + this.bounding_contours = new Geometry.MPoint[bounding_contoursArrayLength]; + for (var i = 0; i < bounding_contoursArrayLength; i++) { this.bounding_contours[i] = new Geometry.MPoint(); offset = this.bounding_contours[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MRecognizedObject.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MRecognizedObject.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MRecognizedObject.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MRecognizedObject.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MRecognizedObjectArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MRecognizedObjectArray.cs similarity index 88% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MRecognizedObjectArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MRecognizedObjectArray.cs index 12e7a1a6..8c2f981a 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MRecognizedObjectArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MRecognizedObjectArray.cs @@ -37,13 +37,13 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(objects.Length)); - foreach(var entry in objects) + foreach (var entry in objects) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(cooccurrence.Length)); - foreach(var entry in cooccurrence) + foreach (var entry in cooccurrence) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -52,20 +52,20 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var objectsArrayLength = DeserializeLength(data, offset); offset += 4; - this.objects= new MRecognizedObject[objectsArrayLength]; - for(var i = 0; i < objectsArrayLength; i++) + this.objects = new MRecognizedObject[objectsArrayLength]; + for (var i = 0; i < objectsArrayLength; i++) { this.objects[i] = new MRecognizedObject(); offset = this.objects[i].Deserialize(data, offset); } - + var cooccurrenceArrayLength = DeserializeLength(data, offset); offset += 4; - this.cooccurrence= new float[cooccurrenceArrayLength]; - for(var i = 0; i < cooccurrenceArrayLength; i++) + this.cooccurrence = new float[cooccurrenceArrayLength]; + for (var i = 0; i < cooccurrenceArrayLength; i++) { this.cooccurrence[i] = BitConverter.ToSingle(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MRecognizedObjectArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MRecognizedObjectArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MRecognizedObjectArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MRecognizedObjectArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MTable.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MTable.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MTable.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MTable.cs index 38c60a1c..3996bd68 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MTable.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MTable.cs @@ -42,9 +42,9 @@ public override List SerializationStatements() var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); listOfSerializations.AddRange(pose.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(convex_hull.Length)); - foreach(var entry in convex_hull) + foreach (var entry in convex_hull) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -54,11 +54,11 @@ public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); offset = this.pose.Deserialize(data, offset); - + var convex_hullArrayLength = DeserializeLength(data, offset); offset += 4; - this.convex_hull= new Geometry.MPoint[convex_hullArrayLength]; - for(var i = 0; i < convex_hullArrayLength; i++) + this.convex_hull = new Geometry.MPoint[convex_hullArrayLength]; + for (var i = 0; i < convex_hullArrayLength; i++) { this.convex_hull[i] = new Geometry.MPoint(); offset = this.convex_hull[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MTable.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MTable.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MTable.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MTable.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MTableArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MTableArray.cs similarity index 91% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MTableArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MTableArray.cs index 2ff21a76..d553624b 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MTableArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MTableArray.cs @@ -31,9 +31,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(tables.Length)); - foreach(var entry in tables) + foreach (var entry in tables) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -42,11 +42,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var tablesArrayLength = DeserializeLength(data, offset); offset += 4; - this.tables= new MTable[tablesArrayLength]; - for(var i = 0; i < tablesArrayLength; i++) + this.tables = new MTable[tablesArrayLength]; + for (var i = 0; i < tablesArrayLength; i++) { this.tables[i] = new MTable(); offset = this.tables[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MTableArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MTableArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/msg/MTableArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/msg/MTableArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/srv.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/srv.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/srv.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/srv.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/srv/MGetObjectInformationRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/srv/MGetObjectInformationRequest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/srv/MGetObjectInformationRequest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/srv/MGetObjectInformationRequest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/srv/MGetObjectInformationRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/srv/MGetObjectInformationRequest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/srv/MGetObjectInformationRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/srv/MGetObjectInformationRequest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/srv/MGetObjectInformationResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/srv/MGetObjectInformationResponse.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/srv/MGetObjectInformationResponse.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/srv/MGetObjectInformationResponse.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/srv/MGetObjectInformationResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/srv/MGetObjectInformationResponse.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/ObjectRecognition/srv/MGetObjectInformationResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/ObjectRecognition/srv/MGetObjectInformationResponse.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/msg/MOctomap.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/msg/MOctomap.cs similarity index 94% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/msg/MOctomap.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/msg/MOctomap.cs index 5fbe7340..f9a1b3b4 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/msg/MOctomap.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/msg/MOctomap.cs @@ -47,9 +47,9 @@ public override List SerializationStatements() listOfSerializations.Add(BitConverter.GetBytes(this.binary)); listOfSerializations.Add(SerializeString(this.id)); listOfSerializations.Add(BitConverter.GetBytes(this.resolution)); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - listOfSerializations.Add((byte[]) (Array)this.data); + listOfSerializations.Add((byte[])(Array)this.data); return listOfSerializations; } @@ -65,11 +65,11 @@ public override int Deserialize(byte[] data, int offset) offset += idStringBytesLength; this.resolution = BitConverter.ToDouble(data, offset); offset += 8; - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new sbyte[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new sbyte[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = (sbyte)data[offset]; offset += 1; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/msg/MOctomap.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/msg/MOctomap.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/msg/MOctomap.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/msg/MOctomap.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/msg/MOctomapWithPose.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/msg/MOctomapWithPose.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/msg/MOctomapWithPose.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/msg/MOctomapWithPose.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/msg/MOctomapWithPose.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/msg/MOctomapWithPose.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/msg/MOctomapWithPose.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/msg/MOctomapWithPose.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MBoundingBoxQueryRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MBoundingBoxQueryRequest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MBoundingBoxQueryRequest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MBoundingBoxQueryRequest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MBoundingBoxQueryRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MBoundingBoxQueryRequest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MBoundingBoxQueryRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MBoundingBoxQueryRequest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MBoundingBoxQueryResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MBoundingBoxQueryResponse.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MBoundingBoxQueryResponse.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MBoundingBoxQueryResponse.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MBoundingBoxQueryResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MBoundingBoxQueryResponse.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MBoundingBoxQueryResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MBoundingBoxQueryResponse.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MGetOctomapRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MGetOctomapRequest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MGetOctomapRequest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MGetOctomapRequest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MGetOctomapRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MGetOctomapRequest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MGetOctomapRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MGetOctomapRequest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MGetOctomapResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MGetOctomapResponse.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MGetOctomapResponse.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MGetOctomapResponse.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MGetOctomapResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MGetOctomapResponse.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Octomap/srv/MGetOctomapResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Octomap/srv/MGetOctomapResponse.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/msg/MRosUnityError.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnityError.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/msg/MRosUnityError.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnityError.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/msg/MRosUnityError.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnityError.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/msg/MRosUnityError.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnityError.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnitySrvMessage.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnitySrvMessage.cs new file mode 100644 index 00000000..b320bd17 --- /dev/null +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnitySrvMessage.cs @@ -0,0 +1,79 @@ +//Do not edit! This file was generated by Unity-ROS MessageGeneration. +using System; +using System.Linq; +using System.Collections.Generic; +using System.Text; +using Unity.Robotics.ROSTCPConnector.MessageGeneration; + +namespace RosMessageTypes.RosTcpEndpoint +{ + public class MRosUnitySrvMessage : Message + { + public const string RosMessageName = "ros_tcp_endpoint/RosUnitySrvMessage"; + + public int srv_id; + public bool is_request; + public string topic; + public byte[] payload; + + public MRosUnitySrvMessage() + { + this.srv_id = 0; + this.is_request = false; + this.topic = ""; + this.payload = new byte[0]; + } + + public MRosUnitySrvMessage(int srv_id, bool is_request, string topic, byte[] payload) + { + this.srv_id = srv_id; + this.is_request = is_request; + this.topic = topic; + this.payload = payload; + } + public override List SerializationStatements() + { + var listOfSerializations = new List(); + listOfSerializations.Add(BitConverter.GetBytes(this.srv_id)); + listOfSerializations.Add(BitConverter.GetBytes(this.is_request)); + listOfSerializations.Add(SerializeString(this.topic)); + + listOfSerializations.Add(BitConverter.GetBytes(payload.Length)); + listOfSerializations.Add(this.payload); + + return listOfSerializations; + } + + public override int Deserialize(byte[] data, int offset) + { + this.srv_id = BitConverter.ToInt32(data, offset); + offset += 4; + this.is_request = BitConverter.ToBoolean(data, offset); + offset += 1; + var topicStringBytesLength = DeserializeLength(data, offset); + offset += 4; + this.topic = DeserializeString(data, offset, topicStringBytesLength); + offset += topicStringBytesLength; + + var payloadArrayLength = DeserializeLength(data, offset); + offset += 4; + this.payload = new byte[payloadArrayLength]; + for (var i = 0; i < payloadArrayLength; i++) + { + this.payload[i] = data[offset]; + offset += 1; + } + + return offset; + } + + public override string ToString() + { + return "MRosUnitySrvMessage: " + + "\nsrv_id: " + srv_id.ToString() + + "\nis_request: " + is_request.ToString() + + "\ntopic: " + topic.ToString() + + "\npayload: " + System.String.Join(", ", payload.ToList()); + } + } +} diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnitySrvMessage.cs.meta similarity index 83% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnitySrvMessage.cs.meta index 866160a0..f1b1f543 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeRequest.cs.meta +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnitySrvMessage.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 5e9ad0d71580f0a439cdd07e18f4fe0e +guid: 948d826c167dec548b1ac5e0c8393d86 MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/msg/MRosUnitySysCommand.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnitySysCommand.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/msg/MRosUnitySysCommand.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnitySysCommand.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/msg/MRosUnitySysCommand.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnitySysCommand.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/msg/MRosUnitySysCommand.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/msg/MRosUnitySysCommand.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/srv.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/srv.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MRosUnityTopicListRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/srv/MRosUnityTopicListRequest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MRosUnityTopicListRequest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/srv/MRosUnityTopicListRequest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MRosUnityTopicListRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/srv/MRosUnityTopicListRequest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MRosUnityTopicListRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/srv/MRosUnityTopicListRequest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MRosUnityTopicListResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/srv/MRosUnityTopicListResponse.cs similarity index 90% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MRosUnityTopicListResponse.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/srv/MRosUnityTopicListResponse.cs index edeb1534..43ac91ba 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MRosUnityTopicListResponse.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/srv/MRosUnityTopicListResponse.cs @@ -25,9 +25,9 @@ public MRosUnityTopicListResponse(string[] topics) public override List SerializationStatements() { var listOfSerializations = new List(); - + listOfSerializations.Add(BitConverter.GetBytes(topics.Length)); - foreach(var entry in topics) + foreach (var entry in topics) listOfSerializations.Add(SerializeString(entry)); return listOfSerializations; @@ -35,11 +35,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - + var topicsArrayLength = DeserializeLength(data, offset); offset += 4; - this.topics= new string[topicsArrayLength]; - for(var i = 0; i < topicsArrayLength; i++) + this.topics = new string[topicsArrayLength]; + for (var i = 0; i < topicsArrayLength; i++) { var topicsStringBytesLength = DeserializeLength(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MRosUnityTopicListResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/srv/MRosUnityTopicListResponse.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MRosUnityTopicListResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/RosTcpEndpoint/srv/MRosUnityTopicListResponse.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MBatteryState.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MBatteryState.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MBatteryState.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MBatteryState.cs index 8c1a6b7b..a9fcefc5 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MBatteryState.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MBatteryState.cs @@ -124,17 +124,17 @@ public override List SerializationStatements() listOfSerializations.Add(BitConverter.GetBytes(this.capacity)); listOfSerializations.Add(BitConverter.GetBytes(this.design_capacity)); listOfSerializations.Add(BitConverter.GetBytes(this.percentage)); - listOfSerializations.Add(new[]{this.power_supply_status}); - listOfSerializations.Add(new[]{this.power_supply_health}); - listOfSerializations.Add(new[]{this.power_supply_technology}); + listOfSerializations.Add(new[] { this.power_supply_status }); + listOfSerializations.Add(new[] { this.power_supply_health }); + listOfSerializations.Add(new[] { this.power_supply_technology }); listOfSerializations.Add(BitConverter.GetBytes(this.present)); - + listOfSerializations.Add(BitConverter.GetBytes(cell_voltage.Length)); - foreach(var entry in cell_voltage) + foreach (var entry in cell_voltage) listOfSerializations.Add(BitConverter.GetBytes(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(cell_temperature.Length)); - foreach(var entry in cell_temperature) + foreach (var entry in cell_temperature) listOfSerializations.Add(BitConverter.GetBytes(entry)); listOfSerializations.Add(SerializeString(this.location)); listOfSerializations.Add(SerializeString(this.serial_number)); @@ -159,28 +159,28 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.percentage = BitConverter.ToSingle(data, offset); offset += 4; - this.power_supply_status = data[offset];; + this.power_supply_status = data[offset]; ; offset += 1; - this.power_supply_health = data[offset];; + this.power_supply_health = data[offset]; ; offset += 1; - this.power_supply_technology = data[offset];; + this.power_supply_technology = data[offset]; ; offset += 1; this.present = BitConverter.ToBoolean(data, offset); offset += 1; - + var cell_voltageArrayLength = DeserializeLength(data, offset); offset += 4; - this.cell_voltage= new float[cell_voltageArrayLength]; - for(var i = 0; i < cell_voltageArrayLength; i++) + this.cell_voltage = new float[cell_voltageArrayLength]; + for (var i = 0; i < cell_voltageArrayLength; i++) { this.cell_voltage[i] = BitConverter.ToSingle(data, offset); offset += 4; } - + var cell_temperatureArrayLength = DeserializeLength(data, offset); offset += 4; - this.cell_temperature= new float[cell_temperatureArrayLength]; - for(var i = 0; i < cell_temperatureArrayLength; i++) + this.cell_temperature = new float[cell_temperatureArrayLength]; + for (var i = 0; i < cell_temperatureArrayLength; i++) { this.cell_temperature[i] = BitConverter.ToSingle(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MBatteryState.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MBatteryState.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MBatteryState.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MBatteryState.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MCameraInfo.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MCameraInfo.cs similarity index 95% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MCameraInfo.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MCameraInfo.cs index d46fd0c7..e67d2532 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MCameraInfo.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MCameraInfo.cs @@ -170,21 +170,21 @@ public override List SerializationStatements() listOfSerializations.Add(BitConverter.GetBytes(this.height)); listOfSerializations.Add(BitConverter.GetBytes(this.width)); listOfSerializations.Add(SerializeString(this.distortion_model)); - + listOfSerializations.Add(BitConverter.GetBytes(D.Length)); - foreach(var entry in D) + foreach (var entry in D) listOfSerializations.Add(BitConverter.GetBytes(entry)); - + Array.Resize(ref K, 9); - foreach(var entry in K) + foreach (var entry in K) listOfSerializations.Add(BitConverter.GetBytes(entry)); - + Array.Resize(ref R, 9); - foreach(var entry in R) + foreach (var entry in R) listOfSerializations.Add(BitConverter.GetBytes(entry)); - + Array.Resize(ref P, 12); - foreach(var entry in P) + foreach (var entry in P) listOfSerializations.Add(BitConverter.GetBytes(entry)); listOfSerializations.Add(BitConverter.GetBytes(this.binning_x)); listOfSerializations.Add(BitConverter.GetBytes(this.binning_y)); @@ -204,32 +204,32 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.distortion_model = DeserializeString(data, offset, distortion_modelStringBytesLength); offset += distortion_modelStringBytesLength; - + var DArrayLength = DeserializeLength(data, offset); offset += 4; - this.D= new double[DArrayLength]; - for(var i = 0; i < DArrayLength; i++) + this.D = new double[DArrayLength]; + for (var i = 0; i < DArrayLength; i++) { this.D[i] = BitConverter.ToDouble(data, offset); offset += 8; } - - this.K= new double[9]; - for(var i = 0; i < 9; i++) + + this.K = new double[9]; + for (var i = 0; i < 9; i++) { this.K[i] = BitConverter.ToDouble(data, offset); offset += 8; } - - this.R= new double[9]; - for(var i = 0; i < 9; i++) + + this.R = new double[9]; + for (var i = 0; i < 9; i++) { this.R[i] = BitConverter.ToDouble(data, offset); offset += 8; } - - this.P= new double[12]; - for(var i = 0; i < 12; i++) + + this.P = new double[12]; + for (var i = 0; i < 12; i++) { this.P[i] = BitConverter.ToDouble(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MCameraInfo.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MCameraInfo.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MCameraInfo.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MCameraInfo.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MChannelFloat32.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MChannelFloat32.cs similarity index 94% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MChannelFloat32.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MChannelFloat32.cs index 27522a90..a2e01a11 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MChannelFloat32.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MChannelFloat32.cs @@ -48,9 +48,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.Add(SerializeString(this.name)); - + listOfSerializations.Add(BitConverter.GetBytes(values.Length)); - foreach(var entry in values) + foreach (var entry in values) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -62,11 +62,11 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.name = DeserializeString(data, offset, nameStringBytesLength); offset += nameStringBytesLength; - + var valuesArrayLength = DeserializeLength(data, offset); offset += 4; - this.values= new float[valuesArrayLength]; - for(var i = 0; i < valuesArrayLength; i++) + this.values = new float[valuesArrayLength]; + for (var i = 0; i < valuesArrayLength; i++) { this.values[i] = BitConverter.ToSingle(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MChannelFloat32.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MChannelFloat32.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MChannelFloat32.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MChannelFloat32.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MCompressedImage.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MCompressedImage.cs similarity index 95% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MCompressedImage.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MCompressedImage.cs index 81dd6ec9..a493c7d6 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MCompressedImage.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MCompressedImage.cs @@ -45,7 +45,7 @@ public override List SerializationStatements() var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); listOfSerializations.Add(SerializeString(this.format)); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); listOfSerializations.Add(this.data); @@ -59,11 +59,11 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.format = DeserializeString(data, offset, formatStringBytesLength); offset += formatStringBytesLength; - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new byte[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new byte[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = data[offset]; offset += 1; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MCompressedImage.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MCompressedImage.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MCompressedImage.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MCompressedImage.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MFluidPressure.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MFluidPressure.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MFluidPressure.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MFluidPressure.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MFluidPressure.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MFluidPressure.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MFluidPressure.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MFluidPressure.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MIlluminance.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MIlluminance.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MIlluminance.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MIlluminance.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MIlluminance.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MIlluminance.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MIlluminance.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MIlluminance.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MImage.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MImage.cs similarity index 94% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MImage.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MImage.cs index a1ece9da..ccd4d0fd 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MImage.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MImage.cs @@ -70,9 +70,9 @@ public override List SerializationStatements() listOfSerializations.Add(BitConverter.GetBytes(this.height)); listOfSerializations.Add(BitConverter.GetBytes(this.width)); listOfSerializations.Add(SerializeString(this.encoding)); - listOfSerializations.Add(new[]{this.is_bigendian}); + listOfSerializations.Add(new[] { this.is_bigendian }); listOfSerializations.Add(BitConverter.GetBytes(this.step)); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); listOfSerializations.Add(this.data); @@ -90,15 +90,15 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.encoding = DeserializeString(data, offset, encodingStringBytesLength); offset += encodingStringBytesLength; - this.is_bigendian = data[offset];; + this.is_bigendian = data[offset]; ; offset += 1; this.step = BitConverter.ToUInt32(data, offset); offset += 4; - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new byte[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new byte[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = data[offset]; offset += 1; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MImage.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MImage.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MImage.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MImage.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MImu.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MImu.cs similarity index 90% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MImu.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MImu.cs index a7f0230f..484250e8 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MImu.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MImu.cs @@ -62,19 +62,19 @@ public override List SerializationStatements() var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); listOfSerializations.AddRange(orientation.SerializationStatements()); - + Array.Resize(ref orientation_covariance, 9); - foreach(var entry in orientation_covariance) + foreach (var entry in orientation_covariance) listOfSerializations.Add(BitConverter.GetBytes(entry)); listOfSerializations.AddRange(angular_velocity.SerializationStatements()); - + Array.Resize(ref angular_velocity_covariance, 9); - foreach(var entry in angular_velocity_covariance) + foreach (var entry in angular_velocity_covariance) listOfSerializations.Add(BitConverter.GetBytes(entry)); listOfSerializations.AddRange(linear_acceleration.SerializationStatements()); - + Array.Resize(ref linear_acceleration_covariance, 9); - foreach(var entry in linear_acceleration_covariance) + foreach (var entry in linear_acceleration_covariance) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -84,25 +84,25 @@ public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); offset = this.orientation.Deserialize(data, offset); - - this.orientation_covariance= new double[9]; - for(var i = 0; i < 9; i++) + + this.orientation_covariance = new double[9]; + for (var i = 0; i < 9; i++) { this.orientation_covariance[i] = BitConverter.ToDouble(data, offset); offset += 8; } offset = this.angular_velocity.Deserialize(data, offset); - - this.angular_velocity_covariance= new double[9]; - for(var i = 0; i < 9; i++) + + this.angular_velocity_covariance = new double[9]; + for (var i = 0; i < 9; i++) { this.angular_velocity_covariance[i] = BitConverter.ToDouble(data, offset); offset += 8; } offset = this.linear_acceleration.Deserialize(data, offset); - - this.linear_acceleration_covariance= new double[9]; - for(var i = 0; i < 9; i++) + + this.linear_acceleration_covariance = new double[9]; + for (var i = 0; i < 9; i++) { this.linear_acceleration_covariance[i] = BitConverter.ToDouble(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MImu.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MImu.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MImu.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MImu.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJointState.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJointState.cs similarity index 86% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJointState.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJointState.cs index aab8158a..57d5f2b1 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJointState.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJointState.cs @@ -57,21 +57,21 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(name.Length)); - foreach(var entry in name) + foreach (var entry in name) listOfSerializations.Add(SerializeString(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(position.Length)); - foreach(var entry in position) + foreach (var entry in position) listOfSerializations.Add(BitConverter.GetBytes(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(velocity.Length)); - foreach(var entry in velocity) + foreach (var entry in velocity) listOfSerializations.Add(BitConverter.GetBytes(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(effort.Length)); - foreach(var entry in effort) + foreach (var entry in effort) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -80,40 +80,40 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var nameArrayLength = DeserializeLength(data, offset); offset += 4; - this.name= new string[nameArrayLength]; - for(var i = 0; i < nameArrayLength; i++) + this.name = new string[nameArrayLength]; + for (var i = 0; i < nameArrayLength; i++) { var nameStringBytesLength = DeserializeLength(data, offset); offset += 4; this.name[i] = DeserializeString(data, offset, nameStringBytesLength); offset += nameStringBytesLength; } - + var positionArrayLength = DeserializeLength(data, offset); offset += 4; - this.position= new double[positionArrayLength]; - for(var i = 0; i < positionArrayLength; i++) + this.position = new double[positionArrayLength]; + for (var i = 0; i < positionArrayLength; i++) { this.position[i] = BitConverter.ToDouble(data, offset); offset += 8; } - + var velocityArrayLength = DeserializeLength(data, offset); offset += 4; - this.velocity= new double[velocityArrayLength]; - for(var i = 0; i < velocityArrayLength; i++) + this.velocity = new double[velocityArrayLength]; + for (var i = 0; i < velocityArrayLength; i++) { this.velocity[i] = BitConverter.ToDouble(data, offset); offset += 8; } - + var effortArrayLength = DeserializeLength(data, offset); offset += 4; - this.effort= new double[effortArrayLength]; - for(var i = 0; i < effortArrayLength; i++) + this.effort = new double[effortArrayLength]; + for (var i = 0; i < effortArrayLength; i++) { this.effort[i] = BitConverter.ToDouble(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJointState.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJointState.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJointState.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJointState.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoy.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoy.cs similarity index 87% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoy.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoy.cs index f1650c54..9fcc129a 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoy.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoy.cs @@ -37,13 +37,13 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(axes.Length)); - foreach(var entry in axes) + foreach (var entry in axes) listOfSerializations.Add(BitConverter.GetBytes(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(buttons.Length)); - foreach(var entry in buttons) + foreach (var entry in buttons) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -52,20 +52,20 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var axesArrayLength = DeserializeLength(data, offset); offset += 4; - this.axes= new float[axesArrayLength]; - for(var i = 0; i < axesArrayLength; i++) + this.axes = new float[axesArrayLength]; + for (var i = 0; i < axesArrayLength; i++) { this.axes[i] = BitConverter.ToSingle(data, offset); offset += 4; } - + var buttonsArrayLength = DeserializeLength(data, offset); offset += 4; - this.buttons= new int[buttonsArrayLength]; - for(var i = 0; i < buttonsArrayLength; i++) + this.buttons = new int[buttonsArrayLength]; + for (var i = 0; i < buttonsArrayLength; i++) { this.buttons[i] = BitConverter.ToInt32(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoy.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoy.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoy.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoy.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoyFeedback.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoyFeedback.cs similarity index 91% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoyFeedback.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoyFeedback.cs index 8bd1e278..7afad5c2 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoyFeedback.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoyFeedback.cs @@ -39,8 +39,8 @@ public MJoyFeedback(byte type, byte id, float intensity) public override List SerializationStatements() { var listOfSerializations = new List(); - listOfSerializations.Add(new[]{this.type}); - listOfSerializations.Add(new[]{this.id}); + listOfSerializations.Add(new[] { this.type }); + listOfSerializations.Add(new[] { this.id }); listOfSerializations.Add(BitConverter.GetBytes(this.intensity)); return listOfSerializations; @@ -48,9 +48,9 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - this.type = data[offset];; + this.type = data[offset]; ; offset += 1; - this.id = data[offset];; + this.id = data[offset]; ; offset += 1; this.intensity = BitConverter.ToSingle(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoyFeedback.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoyFeedback.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoyFeedback.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoyFeedback.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoyFeedbackArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoyFeedbackArray.cs similarity index 89% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoyFeedbackArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoyFeedbackArray.cs index 1db66d13..9c298da6 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoyFeedbackArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoyFeedbackArray.cs @@ -26,9 +26,9 @@ public MJoyFeedbackArray(MJoyFeedback[] array) public override List SerializationStatements() { var listOfSerializations = new List(); - + listOfSerializations.Add(BitConverter.GetBytes(array.Length)); - foreach(var entry in array) + foreach (var entry in array) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -36,11 +36,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - + var arrayArrayLength = DeserializeLength(data, offset); offset += 4; - this.array= new MJoyFeedback[arrayArrayLength]; - for(var i = 0; i < arrayArrayLength; i++) + this.array = new MJoyFeedback[arrayArrayLength]; + for (var i = 0; i < arrayArrayLength; i++) { this.array[i] = new MJoyFeedback(); offset = this.array[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoyFeedbackArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoyFeedbackArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MJoyFeedbackArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MJoyFeedbackArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MLaserEcho.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MLaserEcho.cs similarity index 90% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MLaserEcho.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MLaserEcho.cs index 81f40a41..8a9b6fe4 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MLaserEcho.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MLaserEcho.cs @@ -29,9 +29,9 @@ public MLaserEcho(float[] echoes) public override List SerializationStatements() { var listOfSerializations = new List(); - + listOfSerializations.Add(BitConverter.GetBytes(echoes.Length)); - foreach(var entry in echoes) + foreach (var entry in echoes) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -39,11 +39,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - + var echoesArrayLength = DeserializeLength(data, offset); offset += 4; - this.echoes= new float[echoesArrayLength]; - for(var i = 0; i < echoesArrayLength; i++) + this.echoes = new float[echoesArrayLength]; + for (var i = 0; i < echoesArrayLength; i++) { this.echoes[i] = BitConverter.ToSingle(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MLaserEcho.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MLaserEcho.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MLaserEcho.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MLaserEcho.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MLaserScan.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MLaserScan.cs similarity index 94% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MLaserScan.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MLaserScan.cs index 85ef5a99..8e5d7e04 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MLaserScan.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MLaserScan.cs @@ -85,13 +85,13 @@ public override List SerializationStatements() listOfSerializations.Add(BitConverter.GetBytes(this.scan_time)); listOfSerializations.Add(BitConverter.GetBytes(this.range_min)); listOfSerializations.Add(BitConverter.GetBytes(this.range_max)); - + listOfSerializations.Add(BitConverter.GetBytes(ranges.Length)); - foreach(var entry in ranges) + foreach (var entry in ranges) listOfSerializations.Add(BitConverter.GetBytes(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(intensities.Length)); - foreach(var entry in intensities) + foreach (var entry in intensities) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -114,20 +114,20 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.range_max = BitConverter.ToSingle(data, offset); offset += 4; - + var rangesArrayLength = DeserializeLength(data, offset); offset += 4; - this.ranges= new float[rangesArrayLength]; - for(var i = 0; i < rangesArrayLength; i++) + this.ranges = new float[rangesArrayLength]; + for (var i = 0; i < rangesArrayLength; i++) { this.ranges[i] = BitConverter.ToSingle(data, offset); offset += 4; } - + var intensitiesArrayLength = DeserializeLength(data, offset); offset += 4; - this.intensities= new float[intensitiesArrayLength]; - for(var i = 0; i < intensitiesArrayLength; i++) + this.intensities = new float[intensitiesArrayLength]; + for (var i = 0; i < intensitiesArrayLength; i++) { this.intensities[i] = BitConverter.ToSingle(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MLaserScan.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MLaserScan.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MLaserScan.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MLaserScan.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMagneticField.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMagneticField.cs similarity index 94% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMagneticField.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMagneticField.cs index bd122da1..0c78ffda 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMagneticField.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMagneticField.cs @@ -51,9 +51,9 @@ public override List SerializationStatements() var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); listOfSerializations.AddRange(magnetic_field.SerializationStatements()); - + Array.Resize(ref magnetic_field_covariance, 9); - foreach(var entry in magnetic_field_covariance) + foreach (var entry in magnetic_field_covariance) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -63,9 +63,9 @@ public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); offset = this.magnetic_field.Deserialize(data, offset); - - this.magnetic_field_covariance= new double[9]; - for(var i = 0; i < 9; i++) + + this.magnetic_field_covariance = new double[9]; + for (var i = 0; i < 9; i++) { this.magnetic_field_covariance[i] = BitConverter.ToDouble(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMagneticField.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMagneticField.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMagneticField.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMagneticField.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMultiDOFJointState.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMultiDOFJointState.cs similarity index 86% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMultiDOFJointState.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMultiDOFJointState.cs index 382a03b5..61b119c0 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMultiDOFJointState.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMultiDOFJointState.cs @@ -58,21 +58,21 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(joint_names.Length)); - foreach(var entry in joint_names) + foreach (var entry in joint_names) listOfSerializations.Add(SerializeString(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(transforms.Length)); - foreach(var entry in transforms) + foreach (var entry in transforms) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(twist.Length)); - foreach(var entry in twist) + foreach (var entry in twist) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(wrench.Length)); - foreach(var entry in wrench) + foreach (var entry in wrench) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -81,40 +81,40 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var joint_namesArrayLength = DeserializeLength(data, offset); offset += 4; - this.joint_names= new string[joint_namesArrayLength]; - for(var i = 0; i < joint_namesArrayLength; i++) + this.joint_names = new string[joint_namesArrayLength]; + for (var i = 0; i < joint_namesArrayLength; i++) { var joint_namesStringBytesLength = DeserializeLength(data, offset); offset += 4; this.joint_names[i] = DeserializeString(data, offset, joint_namesStringBytesLength); offset += joint_namesStringBytesLength; } - + var transformsArrayLength = DeserializeLength(data, offset); offset += 4; - this.transforms= new Geometry.MTransform[transformsArrayLength]; - for(var i = 0; i < transformsArrayLength; i++) + this.transforms = new Geometry.MTransform[transformsArrayLength]; + for (var i = 0; i < transformsArrayLength; i++) { this.transforms[i] = new Geometry.MTransform(); offset = this.transforms[i].Deserialize(data, offset); } - + var twistArrayLength = DeserializeLength(data, offset); offset += 4; - this.twist= new Geometry.MTwist[twistArrayLength]; - for(var i = 0; i < twistArrayLength; i++) + this.twist = new Geometry.MTwist[twistArrayLength]; + for (var i = 0; i < twistArrayLength; i++) { this.twist[i] = new Geometry.MTwist(); offset = this.twist[i].Deserialize(data, offset); } - + var wrenchArrayLength = DeserializeLength(data, offset); offset += 4; - this.wrench= new Geometry.MWrench[wrenchArrayLength]; - for(var i = 0; i < wrenchArrayLength; i++) + this.wrench = new Geometry.MWrench[wrenchArrayLength]; + for (var i = 0; i < wrenchArrayLength; i++) { this.wrench[i] = new Geometry.MWrench(); offset = this.wrench[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMultiDOFJointState.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMultiDOFJointState.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMultiDOFJointState.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMultiDOFJointState.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMultiEchoLaserScan.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMultiEchoLaserScan.cs similarity index 94% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMultiEchoLaserScan.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMultiEchoLaserScan.cs index 2586fe85..c929ab84 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMultiEchoLaserScan.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMultiEchoLaserScan.cs @@ -87,13 +87,13 @@ public override List SerializationStatements() listOfSerializations.Add(BitConverter.GetBytes(this.scan_time)); listOfSerializations.Add(BitConverter.GetBytes(this.range_min)); listOfSerializations.Add(BitConverter.GetBytes(this.range_max)); - + listOfSerializations.Add(BitConverter.GetBytes(ranges.Length)); - foreach(var entry in ranges) + foreach (var entry in ranges) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(intensities.Length)); - foreach(var entry in intensities) + foreach (var entry in intensities) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -116,20 +116,20 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.range_max = BitConverter.ToSingle(data, offset); offset += 4; - + var rangesArrayLength = DeserializeLength(data, offset); offset += 4; - this.ranges= new MLaserEcho[rangesArrayLength]; - for(var i = 0; i < rangesArrayLength; i++) + this.ranges = new MLaserEcho[rangesArrayLength]; + for (var i = 0; i < rangesArrayLength; i++) { this.ranges[i] = new MLaserEcho(); offset = this.ranges[i].Deserialize(data, offset); } - + var intensitiesArrayLength = DeserializeLength(data, offset); offset += 4; - this.intensities= new MLaserEcho[intensitiesArrayLength]; - for(var i = 0; i < intensitiesArrayLength; i++) + this.intensities = new MLaserEcho[intensitiesArrayLength]; + for (var i = 0; i < intensitiesArrayLength; i++) { this.intensities[i] = new MLaserEcho(); offset = this.intensities[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMultiEchoLaserScan.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMultiEchoLaserScan.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MMultiEchoLaserScan.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MMultiEchoLaserScan.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MNavSatFix.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MNavSatFix.cs similarity index 94% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MNavSatFix.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MNavSatFix.cs index 0f4c65b5..c9e83863 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MNavSatFix.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MNavSatFix.cs @@ -78,11 +78,11 @@ public override List SerializationStatements() listOfSerializations.Add(BitConverter.GetBytes(this.latitude)); listOfSerializations.Add(BitConverter.GetBytes(this.longitude)); listOfSerializations.Add(BitConverter.GetBytes(this.altitude)); - + Array.Resize(ref position_covariance, 9); - foreach(var entry in position_covariance) + foreach (var entry in position_covariance) listOfSerializations.Add(BitConverter.GetBytes(entry)); - listOfSerializations.Add(new[]{this.position_covariance_type}); + listOfSerializations.Add(new[] { this.position_covariance_type }); return listOfSerializations; } @@ -97,14 +97,14 @@ public override int Deserialize(byte[] data, int offset) offset += 8; this.altitude = BitConverter.ToDouble(data, offset); offset += 8; - - this.position_covariance= new double[9]; - for(var i = 0; i < 9; i++) + + this.position_covariance = new double[9]; + for (var i = 0; i < 9; i++) { this.position_covariance[i] = BitConverter.ToDouble(data, offset); offset += 8; } - this.position_covariance_type = data[offset];; + this.position_covariance_type = data[offset]; ; offset += 1; return offset; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MNavSatFix.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MNavSatFix.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MNavSatFix.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MNavSatFix.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MNavSatStatus.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MNavSatStatus.cs similarity index 95% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MNavSatStatus.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MNavSatStatus.cs index 9f3a6a1b..02b4b7a9 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MNavSatStatus.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MNavSatStatus.cs @@ -42,7 +42,7 @@ public MNavSatStatus(sbyte status, ushort service) public override List SerializationStatements() { var listOfSerializations = new List(); - listOfSerializations.Add(new[]{(byte)this.status}); + listOfSerializations.Add(new[] { (byte)this.status }); listOfSerializations.Add(BitConverter.GetBytes(this.service)); return listOfSerializations; @@ -50,7 +50,7 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - this.status = (sbyte)data[offset];; + this.status = (sbyte)data[offset]; ; offset += 1; this.service = BitConverter.ToUInt16(data, offset); offset += 2; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MNavSatStatus.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MNavSatStatus.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MNavSatStatus.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MNavSatStatus.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointCloud.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointCloud.cs similarity index 88% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointCloud.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointCloud.cs index 5d1b5971..1c06073c 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointCloud.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointCloud.cs @@ -41,13 +41,13 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(points.Length)); - foreach(var entry in points) + foreach (var entry in points) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(channels.Length)); - foreach(var entry in channels) + foreach (var entry in channels) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -56,20 +56,20 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var pointsArrayLength = DeserializeLength(data, offset); offset += 4; - this.points= new Geometry.MPoint32[pointsArrayLength]; - for(var i = 0; i < pointsArrayLength; i++) + this.points = new Geometry.MPoint32[pointsArrayLength]; + for (var i = 0; i < pointsArrayLength; i++) { this.points[i] = new Geometry.MPoint32(); offset = this.points[i].Deserialize(data, offset); } - + var channelsArrayLength = DeserializeLength(data, offset); offset += 4; - this.channels= new MChannelFloat32[channelsArrayLength]; - for(var i = 0; i < channelsArrayLength; i++) + this.channels = new MChannelFloat32[channelsArrayLength]; + for (var i = 0; i < channelsArrayLength; i++) { this.channels[i] = new MChannelFloat32(); offset = this.channels[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointCloud.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointCloud.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointCloud.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointCloud.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointCloud2.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointCloud2.cs similarity index 94% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointCloud2.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointCloud2.cs index 9055b4d2..61df82d8 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointCloud2.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointCloud2.cs @@ -70,14 +70,14 @@ public override List SerializationStatements() listOfSerializations.AddRange(header.SerializationStatements()); listOfSerializations.Add(BitConverter.GetBytes(this.height)); listOfSerializations.Add(BitConverter.GetBytes(this.width)); - + listOfSerializations.Add(BitConverter.GetBytes(fields.Length)); - foreach(var entry in fields) + foreach (var entry in fields) listOfSerializations.Add(entry.Serialize()); listOfSerializations.Add(BitConverter.GetBytes(this.is_bigendian)); listOfSerializations.Add(BitConverter.GetBytes(this.point_step)); listOfSerializations.Add(BitConverter.GetBytes(this.row_step)); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); listOfSerializations.Add(this.data); listOfSerializations.Add(BitConverter.GetBytes(this.is_dense)); @@ -92,11 +92,11 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.width = BitConverter.ToUInt32(data, offset); offset += 4; - + var fieldsArrayLength = DeserializeLength(data, offset); offset += 4; - this.fields= new MPointField[fieldsArrayLength]; - for(var i = 0; i < fieldsArrayLength; i++) + this.fields = new MPointField[fieldsArrayLength]; + for (var i = 0; i < fieldsArrayLength; i++) { this.fields[i] = new MPointField(); offset = this.fields[i].Deserialize(data, offset); @@ -107,11 +107,11 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.row_step = BitConverter.ToUInt32(data, offset); offset += 4; - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new byte[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new byte[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = data[offset]; offset += 1; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointCloud2.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointCloud2.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointCloud2.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointCloud2.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointField.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointField.cs similarity index 96% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointField.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointField.cs index e5cea6cb..e498334d 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointField.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointField.cs @@ -50,7 +50,7 @@ public override List SerializationStatements() var listOfSerializations = new List(); listOfSerializations.Add(SerializeString(this.name)); listOfSerializations.Add(BitConverter.GetBytes(this.offset)); - listOfSerializations.Add(new[]{this.datatype}); + listOfSerializations.Add(new[] { this.datatype }); listOfSerializations.Add(BitConverter.GetBytes(this.count)); return listOfSerializations; @@ -64,7 +64,7 @@ public override int Deserialize(byte[] data, int offset) offset += nameStringBytesLength; this.offset = BitConverter.ToUInt32(data, offset); offset += 4; - this.datatype = data[offset];; + this.datatype = data[offset]; ; offset += 1; this.count = BitConverter.ToUInt32(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointField.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointField.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MPointField.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MPointField.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRange.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRange.cs similarity index 97% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRange.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRange.cs index 6d6f5c67..1c3138bd 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRange.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRange.cs @@ -75,7 +75,7 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - listOfSerializations.Add(new[]{this.radiation_type}); + listOfSerializations.Add(new[] { this.radiation_type }); listOfSerializations.Add(BitConverter.GetBytes(this.field_of_view)); listOfSerializations.Add(BitConverter.GetBytes(this.min_range)); listOfSerializations.Add(BitConverter.GetBytes(this.max_range)); @@ -87,7 +87,7 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - this.radiation_type = data[offset];; + this.radiation_type = data[offset]; ; offset += 1; this.field_of_view = BitConverter.ToSingle(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRange.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRange.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRange.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRange.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRegionOfInterest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRegionOfInterest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRegionOfInterest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRegionOfInterest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRegionOfInterest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRegionOfInterest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRegionOfInterest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRegionOfInterest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRelativeHumidity.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRelativeHumidity.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRelativeHumidity.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRelativeHumidity.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRelativeHumidity.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRelativeHumidity.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MRelativeHumidity.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MRelativeHumidity.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MTemperature.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MTemperature.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MTemperature.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MTemperature.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MTemperature.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MTemperature.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MTemperature.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MTemperature.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MTimeReference.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MTimeReference.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MTimeReference.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MTimeReference.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MTimeReference.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MTimeReference.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/msg/MTimeReference.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/msg/MTimeReference.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/srv.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/srv.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/srv.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/srv.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/srv/MSetCameraInfoRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/srv/MSetCameraInfoRequest.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/srv/MSetCameraInfoRequest.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/srv/MSetCameraInfoRequest.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/srv/MSetCameraInfoRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/srv/MSetCameraInfoRequest.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/srv/MSetCameraInfoRequest.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/srv/MSetCameraInfoRequest.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/srv/MSetCameraInfoResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/srv/MSetCameraInfoResponse.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/srv/MSetCameraInfoResponse.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/srv/MSetCameraInfoResponse.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/srv/MSetCameraInfoResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/srv/MSetCameraInfoResponse.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Sensor/srv/MSetCameraInfoResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Sensor/srv/MSetCameraInfoResponse.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MMesh.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MMesh.cs similarity index 85% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MMesh.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MMesh.cs index ad3d20cb..f41ec827 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MMesh.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MMesh.cs @@ -31,13 +31,13 @@ public MMesh(MMeshTriangle[] triangles, Geometry.MPoint[] vertices) public override List SerializationStatements() { var listOfSerializations = new List(); - + listOfSerializations.Add(BitConverter.GetBytes(triangles.Length)); - foreach(var entry in triangles) + foreach (var entry in triangles) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(vertices.Length)); - foreach(var entry in vertices) + foreach (var entry in vertices) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -45,20 +45,20 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - + var trianglesArrayLength = DeserializeLength(data, offset); offset += 4; - this.triangles= new MMeshTriangle[trianglesArrayLength]; - for(var i = 0; i < trianglesArrayLength; i++) + this.triangles = new MMeshTriangle[trianglesArrayLength]; + for (var i = 0; i < trianglesArrayLength; i++) { this.triangles[i] = new MMeshTriangle(); offset = this.triangles[i].Deserialize(data, offset); } - + var verticesArrayLength = DeserializeLength(data, offset); offset += 4; - this.vertices= new Geometry.MPoint[verticesArrayLength]; - for(var i = 0; i < verticesArrayLength; i++) + this.vertices = new Geometry.MPoint[verticesArrayLength]; + for (var i = 0; i < verticesArrayLength; i++) { this.vertices[i] = new Geometry.MPoint(); offset = this.vertices[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MMesh.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MMesh.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MMesh.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MMesh.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MMeshTriangle.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MMeshTriangle.cs similarity index 89% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MMeshTriangle.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MMeshTriangle.cs index 673a158f..6984b891 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MMeshTriangle.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MMeshTriangle.cs @@ -26,9 +26,9 @@ public MMeshTriangle(uint[] vertex_indices) public override List SerializationStatements() { var listOfSerializations = new List(); - + Array.Resize(ref vertex_indices, 3); - foreach(var entry in vertex_indices) + foreach (var entry in vertex_indices) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -36,9 +36,9 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - - this.vertex_indices= new uint[3]; - for(var i = 0; i < 3; i++) + + this.vertex_indices = new uint[3]; + for (var i = 0; i < 3; i++) { this.vertex_indices[i] = BitConverter.ToUInt32(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MMeshTriangle.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MMeshTriangle.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MMeshTriangle.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MMeshTriangle.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MPlane.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MPlane.cs similarity index 91% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MPlane.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MPlane.cs index 7bf045f2..b7304ee1 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MPlane.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MPlane.cs @@ -30,9 +30,9 @@ public MPlane(double[] coef) public override List SerializationStatements() { var listOfSerializations = new List(); - + Array.Resize(ref coef, 4); - foreach(var entry in coef) + foreach (var entry in coef) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -40,9 +40,9 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - - this.coef= new double[4]; - for(var i = 0; i < 4; i++) + + this.coef = new double[4]; + for (var i = 0; i < 4; i++) { this.coef[i] = BitConverter.ToDouble(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MPlane.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MPlane.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MPlane.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MPlane.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MSolidPrimitive.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MSolidPrimitive.cs similarity index 91% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MSolidPrimitive.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MSolidPrimitive.cs index cbeca26b..ec706374 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MSolidPrimitive.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MSolidPrimitive.cs @@ -56,10 +56,10 @@ public MSolidPrimitive(byte type, double[] dimensions) public override List SerializationStatements() { var listOfSerializations = new List(); - listOfSerializations.Add(new[]{this.type}); - + listOfSerializations.Add(new[] { this.type }); + listOfSerializations.Add(BitConverter.GetBytes(dimensions.Length)); - foreach(var entry in dimensions) + foreach (var entry in dimensions) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -67,13 +67,13 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - this.type = data[offset];; + this.type = data[offset]; ; offset += 1; - + var dimensionsArrayLength = DeserializeLength(data, offset); offset += 4; - this.dimensions= new double[dimensionsArrayLength]; - for(var i = 0; i < dimensionsArrayLength; i++) + this.dimensions = new double[dimensionsArrayLength]; + for (var i = 0; i < dimensionsArrayLength; i++) { this.dimensions[i] = BitConverter.ToDouble(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MSolidPrimitive.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MSolidPrimitive.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Shape/msg/MSolidPrimitive.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Shape/msg/MSolidPrimitive.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MBool.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MBool.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MBool.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MBool.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MBool.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MBool.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MBool.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MBool.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MByte.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MByte.cs similarity index 89% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MByte.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MByte.cs index 1fd9156d..4d088580 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MByte.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MByte.cs @@ -25,14 +25,14 @@ public MByte(sbyte data) public override List SerializationStatements() { var listOfSerializations = new List(); - listOfSerializations.Add(new[]{(byte)this.data}); + listOfSerializations.Add(new[] { (byte)this.data }); return listOfSerializations; } public override int Deserialize(byte[] data, int offset) { - this.data = (sbyte)data[offset];; + this.data = (sbyte)data[offset]; ; offset += 1; return offset; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MByte.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MByte.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MByte.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MByte.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MByteMultiArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MByteMultiArray.cs similarity index 90% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MByteMultiArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MByteMultiArray.cs index e49b1743..dd4ac2a6 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MByteMultiArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MByteMultiArray.cs @@ -33,9 +33,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(layout.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - listOfSerializations.Add((byte[]) (Array)this.data); + listOfSerializations.Add((byte[])(Array)this.data); return listOfSerializations; } @@ -43,11 +43,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.layout.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new sbyte[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new sbyte[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = (sbyte)data[offset]; offset += 1; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MByteMultiArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MByteMultiArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MByteMultiArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MByteMultiArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MChar.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MChar.cs similarity index 90% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MChar.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MChar.cs index 3f3e2832..b637d08c 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MChar.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MChar.cs @@ -25,14 +25,14 @@ public MChar(byte data) public override List SerializationStatements() { var listOfSerializations = new List(); - listOfSerializations.Add(new[]{this.data}); + listOfSerializations.Add(new[] { this.data }); return listOfSerializations; } public override int Deserialize(byte[] data, int offset) { - this.data = data[offset];; + this.data = data[offset]; ; offset += 1; return offset; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MChar.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MChar.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MChar.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MChar.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MColorRGBA.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MColorRGBA.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MColorRGBA.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MColorRGBA.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MColorRGBA.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MColorRGBA.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MColorRGBA.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MColorRGBA.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MDuration.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MDuration.cs similarity index 89% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MDuration.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MDuration.cs index 34ed4861..6bb48b20 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MDuration.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MDuration.cs @@ -1,8 +1,11 @@ //Do not edit! This file was generated by Unity-ROS MessageGeneration. using System; +using System.Linq; using System.Collections.Generic; +using System.Text; +using Unity.Robotics.ROSTCPConnector.MessageGeneration; -namespace Unity.Robotics.ROSTCPConnector.MessageGeneration +namespace RosMessageTypes.Std { public class MDuration : Message { @@ -42,4 +45,4 @@ public override int Deserialize(byte[] data, int offset) return offset; } } -} \ No newline at end of file +} diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MDuration.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MDuration.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MDuration.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MDuration.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MEmpty.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MEmpty.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MEmpty.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MEmpty.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MEmpty.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MEmpty.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MEmpty.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MEmpty.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat32.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat32.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat32.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat32.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat32.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat32.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat32.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat32.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat32MultiArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat32MultiArray.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat32MultiArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat32MultiArray.cs index 87a3e143..7ab8a5cb 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat32MultiArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat32MultiArray.cs @@ -33,9 +33,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(layout.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - foreach(var entry in data) + foreach (var entry in data) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -44,11 +44,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.layout.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new float[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new float[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = BitConverter.ToSingle(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat32MultiArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat32MultiArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat32MultiArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat32MultiArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat64.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat64.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat64.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat64.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat64.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat64.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat64.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat64.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat64MultiArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat64MultiArray.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat64MultiArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat64MultiArray.cs index b60ebeba..2a96b774 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat64MultiArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat64MultiArray.cs @@ -33,9 +33,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(layout.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - foreach(var entry in data) + foreach (var entry in data) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -44,11 +44,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.layout.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new double[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new double[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = BitConverter.ToDouble(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat64MultiArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat64MultiArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MFloat64MultiArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MFloat64MultiArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MHeader.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MHeader.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MHeader.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MHeader.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MHeader.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MHeader.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MHeader.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MHeader.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt16.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt16.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt16.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt16.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt16.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt16.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt16.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt16.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt16MultiArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt16MultiArray.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt16MultiArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt16MultiArray.cs index 791f4cde..bd4d2850 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt16MultiArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt16MultiArray.cs @@ -33,9 +33,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(layout.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - foreach(var entry in data) + foreach (var entry in data) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -44,11 +44,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.layout.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new short[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new short[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = BitConverter.ToInt16(data, offset); offset += 2; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt16MultiArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt16MultiArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt16MultiArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt16MultiArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt32.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt32.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt32.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt32.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt32.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt32.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt32.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt32.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt32MultiArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt32MultiArray.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt32MultiArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt32MultiArray.cs index 1c44214d..e9004c1a 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt32MultiArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt32MultiArray.cs @@ -33,9 +33,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(layout.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - foreach(var entry in data) + foreach (var entry in data) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -44,11 +44,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.layout.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new int[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new int[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = BitConverter.ToInt32(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt32MultiArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt32MultiArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt32MultiArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt32MultiArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt64.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt64.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt64.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt64.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt64.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt64.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt64.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt64.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt64MultiArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt64MultiArray.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt64MultiArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt64MultiArray.cs index 4aa1943f..4934cf2e 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt64MultiArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt64MultiArray.cs @@ -33,9 +33,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(layout.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - foreach(var entry in data) + foreach (var entry in data) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -44,11 +44,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.layout.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new long[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new long[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = BitConverter.ToInt64(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt64MultiArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt64MultiArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt64MultiArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt64MultiArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt8.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt8.cs similarity index 89% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt8.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt8.cs index c6883c0d..a311f6c8 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt8.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt8.cs @@ -25,14 +25,14 @@ public MInt8(sbyte data) public override List SerializationStatements() { var listOfSerializations = new List(); - listOfSerializations.Add(new[]{(byte)this.data}); + listOfSerializations.Add(new[] { (byte)this.data }); return listOfSerializations; } public override int Deserialize(byte[] data, int offset) { - this.data = (sbyte)data[offset];; + this.data = (sbyte)data[offset]; ; offset += 1; return offset; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt8.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt8.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt8.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt8.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt8MultiArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt8MultiArray.cs similarity index 90% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt8MultiArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt8MultiArray.cs index 024dc5ac..2f667acb 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt8MultiArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt8MultiArray.cs @@ -33,9 +33,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(layout.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - listOfSerializations.Add((byte[]) (Array)this.data); + listOfSerializations.Add((byte[])(Array)this.data); return listOfSerializations; } @@ -43,11 +43,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.layout.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new sbyte[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new sbyte[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = (sbyte)data[offset]; offset += 1; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt8MultiArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt8MultiArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MInt8MultiArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MInt8MultiArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MMultiArrayDimension.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MMultiArrayDimension.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MMultiArrayDimension.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MMultiArrayDimension.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MMultiArrayDimension.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MMultiArrayDimension.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MMultiArrayDimension.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MMultiArrayDimension.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MMultiArrayLayout.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MMultiArrayLayout.cs similarity index 94% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MMultiArrayLayout.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MMultiArrayLayout.cs index 53dc197d..1d775b16 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MMultiArrayLayout.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MMultiArrayLayout.cs @@ -52,9 +52,9 @@ public MMultiArrayLayout(MMultiArrayDimension[] dim, uint data_offset) public override List SerializationStatements() { var listOfSerializations = new List(); - + listOfSerializations.Add(BitConverter.GetBytes(dim.Length)); - foreach(var entry in dim) + foreach (var entry in dim) listOfSerializations.Add(entry.Serialize()); listOfSerializations.Add(BitConverter.GetBytes(this.data_offset)); @@ -63,11 +63,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - + var dimArrayLength = DeserializeLength(data, offset); offset += 4; - this.dim= new MMultiArrayDimension[dimArrayLength]; - for(var i = 0; i < dimArrayLength; i++) + this.dim = new MMultiArrayDimension[dimArrayLength]; + for (var i = 0; i < dimArrayLength; i++) { this.dim[i] = new MMultiArrayDimension(); offset = this.dim[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MMultiArrayLayout.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MMultiArrayLayout.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MMultiArrayLayout.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MMultiArrayLayout.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MString.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MString.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MString.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MString.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MString.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MString.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MString.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MString.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MTime.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MTime.cs similarity index 96% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MTime.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MTime.cs index 781dc17b..1ab263fa 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MTime.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MTime.cs @@ -1,6 +1,8 @@ //Do not edit! This file was generated by Unity-ROS MessageGeneration. using System; +using System.Linq; using System.Collections.Generic; +using System.Text; using Unity.Robotics.ROSTCPConnector.MessageGeneration; namespace RosMessageTypes.Std @@ -8,6 +10,7 @@ namespace RosMessageTypes.Std public class MTime : Message { public const string RosMessageName = "std_msgs/Time"; + public uint secs; public uint nsecs; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MTime.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MTime.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MTime.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MTime.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt16.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt16.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt16.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt16.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt16.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt16.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt16.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt16.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt16MultiArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt16MultiArray.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt16MultiArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt16MultiArray.cs index 548afe55..382450c7 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt16MultiArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt16MultiArray.cs @@ -33,9 +33,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(layout.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - foreach(var entry in data) + foreach (var entry in data) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -44,11 +44,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.layout.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new ushort[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new ushort[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = BitConverter.ToUInt16(data, offset); offset += 2; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt16MultiArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt16MultiArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt16MultiArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt16MultiArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt32.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt32.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt32.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt32.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt32.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt32.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt32.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt32.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt32MultiArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt32MultiArray.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt32MultiArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt32MultiArray.cs index 3c8218c5..c3a2d866 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt32MultiArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt32MultiArray.cs @@ -33,9 +33,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(layout.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - foreach(var entry in data) + foreach (var entry in data) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -44,11 +44,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.layout.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new uint[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new uint[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = BitConverter.ToUInt32(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt32MultiArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt32MultiArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt32MultiArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt32MultiArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt64.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt64.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt64.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt64.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt64.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt64.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt64.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt64.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt64MultiArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt64MultiArray.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt64MultiArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt64MultiArray.cs index 5cb11403..edcda4b4 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt64MultiArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt64MultiArray.cs @@ -33,9 +33,9 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(layout.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); - foreach(var entry in data) + foreach (var entry in data) listOfSerializations.Add(BitConverter.GetBytes(entry)); return listOfSerializations; @@ -44,11 +44,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.layout.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new ulong[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new ulong[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = BitConverter.ToUInt64(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt64MultiArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt64MultiArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt64MultiArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt64MultiArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt8.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt8.cs similarity index 90% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt8.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt8.cs index 1cc9a73b..7f91ab61 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt8.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt8.cs @@ -25,14 +25,14 @@ public MUInt8(byte data) public override List SerializationStatements() { var listOfSerializations = new List(); - listOfSerializations.Add(new[]{this.data}); + listOfSerializations.Add(new[] { this.data }); return listOfSerializations; } public override int Deserialize(byte[] data, int offset) { - this.data = data[offset];; + this.data = data[offset]; ; offset += 1; return offset; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt8.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt8.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt8.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt8.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt8MultiArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt8MultiArray.cs similarity index 93% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt8MultiArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt8MultiArray.cs index ba4ff24b..2660e0f9 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt8MultiArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt8MultiArray.cs @@ -33,7 +33,7 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(layout.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(data.Length)); listOfSerializations.Add(this.data); @@ -43,11 +43,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.layout.Deserialize(data, offset); - + var dataArrayLength = DeserializeLength(data, offset); offset += 4; - this.data= new byte[dataArrayLength]; - for(var i = 0; i < dataArrayLength; i++) + this.data = new byte[dataArrayLength]; + for (var i = 0; i < dataArrayLength; i++) { this.data[i] = data[offset]; offset += 1; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt8MultiArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt8MultiArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Std/msg/MUInt8MultiArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg/MUInt8MultiArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Stereo.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Stereo.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Stereo.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Stereo.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Stereo/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Stereo/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Stereo/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Stereo/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Stereo/msg/MDisparityImage.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Stereo/msg/MDisparityImage.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Stereo/msg/MDisparityImage.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Stereo/msg/MDisparityImage.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Stereo/msg/MDisparityImage.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Stereo/msg/MDisparityImage.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Stereo/msg/MDisparityImage.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Stereo/msg/MDisparityImage.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MJointTrajectory.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MJointTrajectory.cs similarity index 87% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MJointTrajectory.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MJointTrajectory.cs index 0b1f60e6..6727d713 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MJointTrajectory.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MJointTrajectory.cs @@ -33,13 +33,13 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(joint_names.Length)); - foreach(var entry in joint_names) + foreach (var entry in joint_names) listOfSerializations.Add(SerializeString(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(points.Length)); - foreach(var entry in points) + foreach (var entry in points) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -48,22 +48,22 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var joint_namesArrayLength = DeserializeLength(data, offset); offset += 4; - this.joint_names= new string[joint_namesArrayLength]; - for(var i = 0; i < joint_namesArrayLength; i++) + this.joint_names = new string[joint_namesArrayLength]; + for (var i = 0; i < joint_namesArrayLength; i++) { var joint_namesStringBytesLength = DeserializeLength(data, offset); offset += 4; this.joint_names[i] = DeserializeString(data, offset, joint_namesStringBytesLength); offset += joint_namesStringBytesLength; } - + var pointsArrayLength = DeserializeLength(data, offset); offset += 4; - this.points= new MJointTrajectoryPoint[pointsArrayLength]; - for(var i = 0; i < pointsArrayLength; i++) + this.points = new MJointTrajectoryPoint[pointsArrayLength]; + for (var i = 0; i < pointsArrayLength; i++) { this.points[i] = new MJointTrajectoryPoint(); offset = this.points[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MJointTrajectory.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MJointTrajectory.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MJointTrajectory.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MJointTrajectory.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MJointTrajectoryPoint.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MJointTrajectoryPoint.cs similarity index 83% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MJointTrajectoryPoint.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MJointTrajectoryPoint.cs index 022df286..c5f03731 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MJointTrajectoryPoint.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MJointTrajectoryPoint.cs @@ -41,21 +41,21 @@ public MJointTrajectoryPoint(double[] positions, double[] velocities, double[] a public override List SerializationStatements() { var listOfSerializations = new List(); - + listOfSerializations.Add(BitConverter.GetBytes(positions.Length)); - foreach(var entry in positions) + foreach (var entry in positions) listOfSerializations.Add(BitConverter.GetBytes(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(velocities.Length)); - foreach(var entry in velocities) + foreach (var entry in velocities) listOfSerializations.Add(BitConverter.GetBytes(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(accelerations.Length)); - foreach(var entry in accelerations) + foreach (var entry in accelerations) listOfSerializations.Add(BitConverter.GetBytes(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(effort.Length)); - foreach(var entry in effort) + foreach (var entry in effort) listOfSerializations.Add(BitConverter.GetBytes(entry)); listOfSerializations.AddRange(time_from_start.SerializationStatements()); @@ -64,38 +64,38 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - + var positionsArrayLength = DeserializeLength(data, offset); offset += 4; - this.positions= new double[positionsArrayLength]; - for(var i = 0; i < positionsArrayLength; i++) + this.positions = new double[positionsArrayLength]; + for (var i = 0; i < positionsArrayLength; i++) { this.positions[i] = BitConverter.ToDouble(data, offset); offset += 8; } - + var velocitiesArrayLength = DeserializeLength(data, offset); offset += 4; - this.velocities= new double[velocitiesArrayLength]; - for(var i = 0; i < velocitiesArrayLength; i++) + this.velocities = new double[velocitiesArrayLength]; + for (var i = 0; i < velocitiesArrayLength; i++) { this.velocities[i] = BitConverter.ToDouble(data, offset); offset += 8; } - + var accelerationsArrayLength = DeserializeLength(data, offset); offset += 4; - this.accelerations= new double[accelerationsArrayLength]; - for(var i = 0; i < accelerationsArrayLength; i++) + this.accelerations = new double[accelerationsArrayLength]; + for (var i = 0; i < accelerationsArrayLength; i++) { this.accelerations[i] = BitConverter.ToDouble(data, offset); offset += 8; } - + var effortArrayLength = DeserializeLength(data, offset); offset += 4; - this.effort= new double[effortArrayLength]; - for(var i = 0; i < effortArrayLength; i++) + this.effort = new double[effortArrayLength]; + for (var i = 0; i < effortArrayLength; i++) { this.effort[i] = BitConverter.ToDouble(data, offset); offset += 8; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MJointTrajectoryPoint.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MJointTrajectoryPoint.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MJointTrajectoryPoint.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MJointTrajectoryPoint.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MMultiDOFJointTrajectory.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MMultiDOFJointTrajectory.cs similarity index 88% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MMultiDOFJointTrajectory.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MMultiDOFJointTrajectory.cs index 3b2778bd..52d729d1 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MMultiDOFJointTrajectory.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MMultiDOFJointTrajectory.cs @@ -38,13 +38,13 @@ public override List SerializationStatements() { var listOfSerializations = new List(); listOfSerializations.AddRange(header.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(joint_names.Length)); - foreach(var entry in joint_names) + foreach (var entry in joint_names) listOfSerializations.Add(SerializeString(entry)); - + listOfSerializations.Add(BitConverter.GetBytes(points.Length)); - foreach(var entry in points) + foreach (var entry in points) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -53,22 +53,22 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { offset = this.header.Deserialize(data, offset); - + var joint_namesArrayLength = DeserializeLength(data, offset); offset += 4; - this.joint_names= new string[joint_namesArrayLength]; - for(var i = 0; i < joint_namesArrayLength; i++) + this.joint_names = new string[joint_namesArrayLength]; + for (var i = 0; i < joint_namesArrayLength; i++) { var joint_namesStringBytesLength = DeserializeLength(data, offset); offset += 4; this.joint_names[i] = DeserializeString(data, offset, joint_namesStringBytesLength); offset += joint_namesStringBytesLength; } - + var pointsArrayLength = DeserializeLength(data, offset); offset += 4; - this.points= new MMultiDOFJointTrajectoryPoint[pointsArrayLength]; - for(var i = 0; i < pointsArrayLength; i++) + this.points = new MMultiDOFJointTrajectoryPoint[pointsArrayLength]; + for (var i = 0; i < pointsArrayLength; i++) { this.points[i] = new MMultiDOFJointTrajectoryPoint(); offset = this.points[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MMultiDOFJointTrajectory.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MMultiDOFJointTrajectory.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MMultiDOFJointTrajectory.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MMultiDOFJointTrajectory.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MMultiDOFJointTrajectoryPoint.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MMultiDOFJointTrajectoryPoint.cs similarity index 85% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MMultiDOFJointTrajectoryPoint.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MMultiDOFJointTrajectoryPoint.cs index 2e2b5e64..e91e2fb3 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MMultiDOFJointTrajectoryPoint.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MMultiDOFJointTrajectoryPoint.cs @@ -38,17 +38,17 @@ public MMultiDOFJointTrajectoryPoint(Geometry.MTransform[] transforms, Geometry. public override List SerializationStatements() { var listOfSerializations = new List(); - + listOfSerializations.Add(BitConverter.GetBytes(transforms.Length)); - foreach(var entry in transforms) + foreach (var entry in transforms) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(velocities.Length)); - foreach(var entry in velocities) + foreach (var entry in velocities) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(accelerations.Length)); - foreach(var entry in accelerations) + foreach (var entry in accelerations) listOfSerializations.Add(entry.Serialize()); listOfSerializations.AddRange(time_from_start.SerializationStatements()); @@ -57,29 +57,29 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - + var transformsArrayLength = DeserializeLength(data, offset); offset += 4; - this.transforms= new Geometry.MTransform[transformsArrayLength]; - for(var i = 0; i < transformsArrayLength; i++) + this.transforms = new Geometry.MTransform[transformsArrayLength]; + for (var i = 0; i < transformsArrayLength; i++) { this.transforms[i] = new Geometry.MTransform(); offset = this.transforms[i].Deserialize(data, offset); } - + var velocitiesArrayLength = DeserializeLength(data, offset); offset += 4; - this.velocities= new Geometry.MTwist[velocitiesArrayLength]; - for(var i = 0; i < velocitiesArrayLength; i++) + this.velocities = new Geometry.MTwist[velocitiesArrayLength]; + for (var i = 0; i < velocitiesArrayLength; i++) { this.velocities[i] = new Geometry.MTwist(); offset = this.velocities[i].Deserialize(data, offset); } - + var accelerationsArrayLength = DeserializeLength(data, offset); offset += 4; - this.accelerations= new Geometry.MTwist[accelerationsArrayLength]; - for(var i = 0; i < accelerationsArrayLength; i++) + this.accelerations = new Geometry.MTwist[accelerationsArrayLength]; + for (var i = 0; i < accelerationsArrayLength; i++) { this.accelerations[i] = new Geometry.MTwist(); offset = this.accelerations[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MMultiDOFJointTrajectoryPoint.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MMultiDOFJointTrajectoryPoint.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Trajectory/msg/MMultiDOFJointTrajectoryPoint.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/MMultiDOFJointTrajectoryPoint.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MImageMarker.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MImageMarker.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MImageMarker.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MImageMarker.cs index 80619a94..8bf320e5 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MImageMarker.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MImageMarker.cs @@ -88,16 +88,16 @@ public override List SerializationStatements() listOfSerializations.AddRange(position.SerializationStatements()); listOfSerializations.Add(BitConverter.GetBytes(this.scale)); listOfSerializations.AddRange(outline_color.SerializationStatements()); - listOfSerializations.Add(new[]{this.filled}); + listOfSerializations.Add(new[] { this.filled }); listOfSerializations.AddRange(fill_color.SerializationStatements()); listOfSerializations.AddRange(lifetime.SerializationStatements()); - + listOfSerializations.Add(BitConverter.GetBytes(points.Length)); - foreach(var entry in points) + foreach (var entry in points) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(outline_colors.Length)); - foreach(var entry in outline_colors) + foreach (var entry in outline_colors) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -120,24 +120,24 @@ public override int Deserialize(byte[] data, int offset) this.scale = BitConverter.ToSingle(data, offset); offset += 4; offset = this.outline_color.Deserialize(data, offset); - this.filled = data[offset];; + this.filled = data[offset]; ; offset += 1; offset = this.fill_color.Deserialize(data, offset); offset = this.lifetime.Deserialize(data, offset); - + var pointsArrayLength = DeserializeLength(data, offset); offset += 4; - this.points= new Geometry.MPoint[pointsArrayLength]; - for(var i = 0; i < pointsArrayLength; i++) + this.points = new Geometry.MPoint[pointsArrayLength]; + for (var i = 0; i < pointsArrayLength; i++) { this.points[i] = new Geometry.MPoint(); offset = this.points[i].Deserialize(data, offset); } - + var outline_colorsArrayLength = DeserializeLength(data, offset); offset += 4; - this.outline_colors= new Std.MColorRGBA[outline_colorsArrayLength]; - for(var i = 0; i < outline_colorsArrayLength; i++) + this.outline_colors = new Std.MColorRGBA[outline_colorsArrayLength]; + for (var i = 0; i < outline_colorsArrayLength; i++) { this.outline_colors[i] = new Std.MColorRGBA(); offset = this.outline_colors[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MImageMarker.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MImageMarker.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MImageMarker.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MImageMarker.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarker.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarker.cs similarity index 92% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarker.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarker.cs index a7752a7a..ea315a7d 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarker.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarker.cs @@ -62,13 +62,13 @@ public override List SerializationStatements() listOfSerializations.Add(SerializeString(this.name)); listOfSerializations.Add(SerializeString(this.description)); listOfSerializations.Add(BitConverter.GetBytes(this.scale)); - + listOfSerializations.Add(BitConverter.GetBytes(menu_entries.Length)); - foreach(var entry in menu_entries) + foreach (var entry in menu_entries) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(controls.Length)); - foreach(var entry in controls) + foreach (var entry in controls) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -88,20 +88,20 @@ public override int Deserialize(byte[] data, int offset) offset += descriptionStringBytesLength; this.scale = BitConverter.ToSingle(data, offset); offset += 4; - + var menu_entriesArrayLength = DeserializeLength(data, offset); offset += 4; - this.menu_entries= new MMenuEntry[menu_entriesArrayLength]; - for(var i = 0; i < menu_entriesArrayLength; i++) + this.menu_entries = new MMenuEntry[menu_entriesArrayLength]; + for (var i = 0; i < menu_entriesArrayLength; i++) { this.menu_entries[i] = new MMenuEntry(); offset = this.menu_entries[i].Deserialize(data, offset); } - + var controlsArrayLength = DeserializeLength(data, offset); offset += 4; - this.controls= new MInteractiveMarkerControl[controlsArrayLength]; - for(var i = 0; i < controlsArrayLength; i++) + this.controls = new MInteractiveMarkerControl[controlsArrayLength]; + for (var i = 0; i < controlsArrayLength; i++) { this.controls[i] = new MInteractiveMarkerControl(); offset = this.controls[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarker.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarker.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarker.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarker.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerControl.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerControl.cs similarity index 94% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerControl.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerControl.cs index 5cbeb153..4dc86b39 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerControl.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerControl.cs @@ -101,12 +101,12 @@ public override List SerializationStatements() var listOfSerializations = new List(); listOfSerializations.Add(SerializeString(this.name)); listOfSerializations.AddRange(orientation.SerializationStatements()); - listOfSerializations.Add(new[]{this.orientation_mode}); - listOfSerializations.Add(new[]{this.interaction_mode}); + listOfSerializations.Add(new[] { this.orientation_mode }); + listOfSerializations.Add(new[] { this.interaction_mode }); listOfSerializations.Add(BitConverter.GetBytes(this.always_visible)); - + listOfSerializations.Add(BitConverter.GetBytes(markers.Length)); - foreach(var entry in markers) + foreach (var entry in markers) listOfSerializations.Add(entry.Serialize()); listOfSerializations.Add(BitConverter.GetBytes(this.independent_marker_orientation)); listOfSerializations.Add(SerializeString(this.description)); @@ -121,17 +121,17 @@ public override int Deserialize(byte[] data, int offset) this.name = DeserializeString(data, offset, nameStringBytesLength); offset += nameStringBytesLength; offset = this.orientation.Deserialize(data, offset); - this.orientation_mode = data[offset];; + this.orientation_mode = data[offset]; ; offset += 1; - this.interaction_mode = data[offset];; + this.interaction_mode = data[offset]; ; offset += 1; this.always_visible = BitConverter.ToBoolean(data, offset); offset += 1; - + var markersArrayLength = DeserializeLength(data, offset); offset += 4; - this.markers= new MMarker[markersArrayLength]; - for(var i = 0; i < markersArrayLength; i++) + this.markers = new MMarker[markersArrayLength]; + for (var i = 0; i < markersArrayLength; i++) { this.markers[i] = new MMarker(); offset = this.markers[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerControl.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerControl.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerControl.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerControl.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerFeedback.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerFeedback.cs similarity index 98% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerFeedback.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerFeedback.cs index 63442dec..6ec3df84 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerFeedback.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerFeedback.cs @@ -78,7 +78,7 @@ public override List SerializationStatements() listOfSerializations.Add(SerializeString(this.client_id)); listOfSerializations.Add(SerializeString(this.marker_name)); listOfSerializations.Add(SerializeString(this.control_name)); - listOfSerializations.Add(new[]{this.event_type}); + listOfSerializations.Add(new[] { this.event_type }); listOfSerializations.AddRange(pose.SerializationStatements()); listOfSerializations.Add(BitConverter.GetBytes(this.menu_entry_id)); listOfSerializations.AddRange(mouse_point.SerializationStatements()); @@ -102,7 +102,7 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.control_name = DeserializeString(data, offset, control_nameStringBytesLength); offset += control_nameStringBytesLength; - this.event_type = data[offset];; + this.event_type = data[offset]; ; offset += 1; offset = this.pose.Deserialize(data, offset); this.menu_entry_id = BitConverter.ToUInt32(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerFeedback.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerFeedback.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerFeedback.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerFeedback.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerInit.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerInit.cs similarity index 93% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerInit.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerInit.cs index fe8e70f0..8411e347 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerInit.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerInit.cs @@ -42,9 +42,9 @@ public override List SerializationStatements() var listOfSerializations = new List(); listOfSerializations.Add(SerializeString(this.server_id)); listOfSerializations.Add(BitConverter.GetBytes(this.seq_num)); - + listOfSerializations.Add(BitConverter.GetBytes(markers.Length)); - foreach(var entry in markers) + foreach (var entry in markers) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -58,11 +58,11 @@ public override int Deserialize(byte[] data, int offset) offset += server_idStringBytesLength; this.seq_num = BitConverter.ToUInt64(data, offset); offset += 8; - + var markersArrayLength = DeserializeLength(data, offset); offset += 4; - this.markers= new MInteractiveMarker[markersArrayLength]; - for(var i = 0; i < markersArrayLength; i++) + this.markers = new MInteractiveMarker[markersArrayLength]; + for (var i = 0; i < markersArrayLength; i++) { this.markers[i] = new MInteractiveMarker(); offset = this.markers[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerInit.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerInit.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerInit.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerInit.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerPose.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerPose.cs similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerPose.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerPose.cs diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerPose.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerPose.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerPose.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerPose.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerUpdate.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerUpdate.cs similarity index 88% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerUpdate.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerUpdate.cs index a73649ee..08daa6f8 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerUpdate.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerUpdate.cs @@ -60,18 +60,18 @@ public override List SerializationStatements() var listOfSerializations = new List(); listOfSerializations.Add(SerializeString(this.server_id)); listOfSerializations.Add(BitConverter.GetBytes(this.seq_num)); - listOfSerializations.Add(new[]{this.type}); - + listOfSerializations.Add(new[] { this.type }); + listOfSerializations.Add(BitConverter.GetBytes(markers.Length)); - foreach(var entry in markers) + foreach (var entry in markers) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(poses.Length)); - foreach(var entry in poses) + foreach (var entry in poses) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(erases.Length)); - foreach(var entry in erases) + foreach (var entry in erases) listOfSerializations.Add(SerializeString(entry)); return listOfSerializations; @@ -85,31 +85,31 @@ public override int Deserialize(byte[] data, int offset) offset += server_idStringBytesLength; this.seq_num = BitConverter.ToUInt64(data, offset); offset += 8; - this.type = data[offset];; + this.type = data[offset]; ; offset += 1; - + var markersArrayLength = DeserializeLength(data, offset); offset += 4; - this.markers= new MInteractiveMarker[markersArrayLength]; - for(var i = 0; i < markersArrayLength; i++) + this.markers = new MInteractiveMarker[markersArrayLength]; + for (var i = 0; i < markersArrayLength; i++) { this.markers[i] = new MInteractiveMarker(); offset = this.markers[i].Deserialize(data, offset); } - + var posesArrayLength = DeserializeLength(data, offset); offset += 4; - this.poses= new MInteractiveMarkerPose[posesArrayLength]; - for(var i = 0; i < posesArrayLength; i++) + this.poses = new MInteractiveMarkerPose[posesArrayLength]; + for (var i = 0; i < posesArrayLength; i++) { this.poses[i] = new MInteractiveMarkerPose(); offset = this.poses[i].Deserialize(data, offset); } - + var erasesArrayLength = DeserializeLength(data, offset); offset += 4; - this.erases= new string[erasesArrayLength]; - for(var i = 0; i < erasesArrayLength; i++) + this.erases = new string[erasesArrayLength]; + for (var i = 0; i < erasesArrayLength; i++) { var erasesStringBytesLength = DeserializeLength(data, offset); offset += 4; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerUpdate.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerUpdate.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MInteractiveMarkerUpdate.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MInteractiveMarkerUpdate.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMarker.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMarker.cs similarity index 95% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMarker.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMarker.cs index e0533a45..23216362 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMarker.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMarker.cs @@ -111,13 +111,13 @@ public override List SerializationStatements() listOfSerializations.AddRange(color.SerializationStatements()); listOfSerializations.AddRange(lifetime.SerializationStatements()); listOfSerializations.Add(BitConverter.GetBytes(this.frame_locked)); - + listOfSerializations.Add(BitConverter.GetBytes(points.Length)); - foreach(var entry in points) + foreach (var entry in points) listOfSerializations.Add(entry.Serialize()); - + listOfSerializations.Add(BitConverter.GetBytes(colors.Length)); - foreach(var entry in colors) + foreach (var entry in colors) listOfSerializations.Add(entry.Serialize()); listOfSerializations.Add(SerializeString(this.text)); listOfSerializations.Add(SerializeString(this.mesh_resource)); @@ -145,20 +145,20 @@ public override int Deserialize(byte[] data, int offset) offset = this.lifetime.Deserialize(data, offset); this.frame_locked = BitConverter.ToBoolean(data, offset); offset += 1; - + var pointsArrayLength = DeserializeLength(data, offset); offset += 4; - this.points= new Geometry.MPoint[pointsArrayLength]; - for(var i = 0; i < pointsArrayLength; i++) + this.points = new Geometry.MPoint[pointsArrayLength]; + for (var i = 0; i < pointsArrayLength; i++) { this.points[i] = new Geometry.MPoint(); offset = this.points[i].Deserialize(data, offset); } - + var colorsArrayLength = DeserializeLength(data, offset); offset += 4; - this.colors= new Std.MColorRGBA[colorsArrayLength]; - for(var i = 0; i < colorsArrayLength; i++) + this.colors = new Std.MColorRGBA[colorsArrayLength]; + for (var i = 0; i < colorsArrayLength; i++) { this.colors[i] = new Std.MColorRGBA(); offset = this.colors[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMarker.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMarker.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMarker.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMarker.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMarkerArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMarkerArray.cs similarity index 88% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMarkerArray.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMarkerArray.cs index d1c51ec1..114caa6e 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMarkerArray.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMarkerArray.cs @@ -25,9 +25,9 @@ public MMarkerArray(MMarker[] markers) public override List SerializationStatements() { var listOfSerializations = new List(); - + listOfSerializations.Add(BitConverter.GetBytes(markers.Length)); - foreach(var entry in markers) + foreach (var entry in markers) listOfSerializations.Add(entry.Serialize()); return listOfSerializations; @@ -35,11 +35,11 @@ public override List SerializationStatements() public override int Deserialize(byte[] data, int offset) { - + var markersArrayLength = DeserializeLength(data, offset); offset += 4; - this.markers= new MMarker[markersArrayLength]; - for(var i = 0; i < markersArrayLength; i++) + this.markers = new MMarker[markersArrayLength]; + for (var i = 0; i < markersArrayLength; i++) { this.markers[i] = new MMarker(); offset = this.markers[i].Deserialize(data, offset); diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMarkerArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMarkerArray.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMarkerArray.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMarkerArray.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMenuEntry.cs b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMenuEntry.cs similarity index 97% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMenuEntry.cs rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMenuEntry.cs index a66b4813..726594e5 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMenuEntry.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMenuEntry.cs @@ -83,7 +83,7 @@ public override List SerializationStatements() listOfSerializations.Add(BitConverter.GetBytes(this.parent_id)); listOfSerializations.Add(SerializeString(this.title)); listOfSerializations.Add(SerializeString(this.command)); - listOfSerializations.Add(new[]{this.command_type}); + listOfSerializations.Add(new[] { this.command_type }); return listOfSerializations; } @@ -102,7 +102,7 @@ public override int Deserialize(byte[] data, int offset) offset += 4; this.command = DeserializeString(data, offset, commandStringBytesLength); offset += commandStringBytesLength; - this.command_type = data[offset];; + this.command_type = data[offset]; ; offset += 1; return offset; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMenuEntry.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMenuEntry.cs.meta similarity index 100% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/Visualization/msg/MMenuEntry.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/Messages/Visualization/msg/MMenuEntry.cs.meta diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/ROSGeometry/CoordinateSpaces.cs b/com.unity.robotics.ros-tcp-connector/Runtime/ROSGeometry/CoordinateSpaces.cs index 18fa7805..708d26f8 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/ROSGeometry/CoordinateSpaces.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/ROSGeometry/CoordinateSpaces.cs @@ -4,7 +4,7 @@ using System.Collections.Generic; using UnityEngine; -namespace Unity.Robotics.ROSTCPConnector.ROSGeometry +namespace Unity.Robotics.ROSTCPConnector.ROSGeometry { public interface ICoordinateSpace { diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/ROSGeometry/ROSVector3.cs b/com.unity.robotics.ros-tcp-connector/Runtime/ROSGeometry/ROSVector3.cs index 89d14d73..f6f86832 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/ROSGeometry/ROSVector3.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/ROSGeometry/ROSVector3.cs @@ -73,7 +73,7 @@ private static Vector3 MakeInternal(Vector3 vec) public float sqrMagnitude => internalVector.sqrMagnitude; public static float Angle(Vector3 from, Vector3 to) => Vector3.Angle(from.internalVector, to.internalVector); - + public static Vector3 ClampMagnitude(Vector3 vector, float maxLength) { return MakeInternal(Vector3.ClampMagnitude(vector.internalVector, maxLength)); @@ -85,102 +85,102 @@ public static Vector3 Cross(Vector3 lhs, Vector3 rhs) } public static float Distance(Vector3 a, Vector3 b) => Vector3.Distance(a.internalVector, b.internalVector); - + public static float Dot(Vector3 lhs, Vector3 rhs) => Vector3.Dot(lhs.internalVector, rhs.internalVector); - + public static Vector3 Lerp(Vector3 a, Vector3 b, float t) { return MakeInternal(Vector3.Lerp(a.internalVector, b.internalVector, t)); } - + public static Vector3 LerpUnclamped(Vector3 a, Vector3 b, float t) { return MakeInternal(Vector3.LerpUnclamped(a.internalVector, b.internalVector, t)); } - + public static float Magnitude(Vector3 vector) => Vector3.Magnitude(vector.internalVector); - + public static Vector3 Max(Vector3 lhs, Vector3 rhs) => MakeInternal(Vector3.Max(lhs.internalVector, rhs.internalVector)); - + public static Vector3 Min(Vector3 lhs, Vector3 rhs) => MakeInternal(Vector3.Min(lhs.internalVector, rhs.internalVector)); - + public static Vector3 MoveTowards(Vector3 current, Vector3 target, float maxDistanceDelta) { return MakeInternal(Vector3.MoveTowards(current.internalVector, target.internalVector, maxDistanceDelta)); } - + public static Vector3 Normalize(Vector3 value) => MakeInternal(Vector3.Normalize(value.internalVector)); - + public static void OrthoNormalize(ref Vector3 normal, ref Vector3 tangent, ref Vector3 binormal) { Vector3.OrthoNormalize(ref normal.internalVector, ref tangent.internalVector, ref binormal.internalVector); } - + public static void OrthoNormalize(ref Vector3 normal, ref Vector3 tangent) { Vector3.OrthoNormalize(ref normal.internalVector, ref tangent.internalVector); } - + public static Vector3 Project(Vector3 vector, Vector3 onNormal) { return MakeInternal(Vector3.Project(vector.internalVector, onNormal.internalVector)); } - + public static Vector3 ProjectOnPlane(Vector3 vector, Vector3 planeNormal) { return MakeInternal(Vector3.ProjectOnPlane(vector.internalVector, planeNormal.internalVector)); } - + public static Vector3 Reflect(Vector3 inDirection, Vector3 inNormal) { return MakeInternal(Vector3.Reflect(inDirection.internalVector, inNormal.internalVector)); } - + public static Vector3 RotateTowards(Vector3 current, Vector3 target, float maxRadiansDelta, float maxMagnitudeDelta) { return MakeInternal(Vector3.RotateTowards(current.internalVector, target.internalVector, maxRadiansDelta, maxMagnitudeDelta)); } - + public static Vector3 Scale(Vector3 a, Vector3 b) => MakeInternal(Vector3.Scale(a.internalVector, b.internalVector)); - + public static float SignedAngle(Vector3 from, Vector3 to, Vector3 axis) { return Vector3.SignedAngle(from.internalVector, to.internalVector, axis.internalVector); } - + public static Vector3 Slerp(Vector3 a, Vector3 b, float t) { return MakeInternal(Vector3.Slerp(a.internalVector, b.internalVector, t)); } - + public static Vector3 SlerpUnclamped(Vector3 a, Vector3 b, float t) { return MakeInternal(Vector3.SlerpUnclamped(a.internalVector, b.internalVector, t)); } - + public static Vector3 SmoothDamp(Vector3 current, Vector3 target, ref Vector3 currentVelocity, float smoothTime) { return MakeInternal(Vector3.SmoothDamp(current.internalVector, target.internalVector, ref currentVelocity.internalVector, smoothTime)); } - + public static Vector3 SmoothDamp(Vector3 current, Vector3 target, ref Vector3 currentVelocity, float smoothTime, float maxSpeed) { return MakeInternal(Vector3.SmoothDamp(current.internalVector, target.internalVector, ref currentVelocity.internalVector, smoothTime, maxSpeed)); } - + public static float SqrMagnitude(Vector3 vector) => Vector3.SqrMagnitude(vector.internalVector); - + public override bool Equals(object other) { if (other is Vector3) return internalVector == ((Vector3)other).internalVector; return false; } - + public bool Equals(Vector3 other) => internalVector == other.internalVector; - + public override int GetHashCode() => internalVector.GetHashCode(); - + public void Normalize() { internalVector.Normalize(); @@ -190,12 +190,12 @@ public void Scale(Vector3 scale) { internalVector.Scale(scale.internalVector); } - + public void Set(float newX, float newY, float newZ) { internalVector.Set(newX, newY, newZ); } - + public string ToString(string format) => internalVector.ToString(format); public override string ToString() => internalVector.ToString(); public string ToString(string format, System.IFormatProvider formatProvider) => internalVector.ToString(format, formatProvider); @@ -204,7 +204,7 @@ public void Set(float newX, float newY, float newZ) { return MakeInternal(a.internalVector + b.internalVector); } - + public static Vector3 operator -(Vector3 a) { return MakeInternal(-a.internalVector); @@ -214,22 +214,22 @@ public void Set(float newX, float newY, float newZ) { return MakeInternal(a.internalVector - b.internalVector); } - + public static Vector3 operator *(float d, Vector3 a) { return MakeInternal(d * a.internalVector); } - + public static Vector3 operator *(Vector3 a, float d) { return MakeInternal(a.internalVector * d); } - + public static Vector3 operator /(Vector3 a, float d) { return MakeInternal(a.internalVector / d); } - + public static bool operator ==(Vector3 lhs, Vector3 rhs) { return lhs.internalVector == rhs.internalVector; diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/HUDPanel.cs b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/HUDPanel.cs index 0da97379..4a4e5343 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/HUDPanel.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/HUDPanel.cs @@ -8,37 +8,38 @@ namespace Unity.Robotics.ROSTCPConnector public class HUDPanel : MonoBehaviour { // GUI variables - GUIStyle labelStyle; - GUIStyle contentStyle; - GUIStyle messageStyle; - bool viewSent = false; - bool viewRecv = false; - bool viewSrvs = false; - Rect scrollRect; - bool redrawGUI = false; + GUIStyle m_LabelStyle; + GUIStyle m_ContentStyle; + GUIStyle m_MessageStyle; + bool m_ViewSent = false; + bool m_ViewRecv = false; + bool m_ViewSrvs = false; + Rect m_ScrollRect; // ROS Message variables internal bool isEnabled; internal string host; - MessageViewState lastMessageSent; - string lastMessageSentMeta = "None"; + MessageViewState m_LastMessageSent; + string m_LastMessageSentMeta = "None"; + float m_LastMessageSentRealtime; public void SetLastMessageSent(string topic, Message message) { - lastMessageSent = new MessageViewState() {label = "Last Message Sent:", message = message}; - lastMessageSentMeta = $"{topic} (time: {System.DateTime.Now.TimeOfDay})"; - redrawGUI = true; + m_LastMessageSent = new MessageViewState() { label = "Last Message Sent:", message = message }; + m_LastMessageSentMeta = $"{topic} (time: {System.DateTime.Now.TimeOfDay})"; + m_LastMessageSentRealtime = Time.realtimeSinceStartup; } - MessageViewState lastMessageReceived; - string lastMessageReceivedMeta = "None"; + MessageViewState m_LastMessageReceived; + string m_LastMessageReceivedMeta = "None"; + float m_LastMessageReceivedRealtime; public void SetLastMessageReceived(string topic, Message message) { - lastMessageReceived = new MessageViewState() {label = "Last Message Received:", message = message}; - lastMessageReceivedMeta = $"{topic} (time: {System.DateTime.Now.TimeOfDay})"; - redrawGUI = true; + m_LastMessageReceived = new MessageViewState() { label = "Last Message Received:", message = message }; + m_LastMessageReceivedMeta = $"{topic} (time: {System.DateTime.Now.TimeOfDay})"; + m_LastMessageReceivedRealtime = Time.realtimeSinceStartup; } List activeServices = new List(); @@ -81,32 +82,50 @@ public void AddServiceResponse(int serviceID, Message response) void Awake() { // Define font styles - labelStyle = new GUIStyle + m_LabelStyle = new GUIStyle { alignment = TextAnchor.MiddleLeft, - normal = {textColor = Color.white}, + normal = { textColor = Color.white }, fontStyle = FontStyle.Bold, fixedWidth = 250 }; - contentStyle = new GUIStyle + m_ContentStyle = new GUIStyle { alignment = TextAnchor.MiddleLeft, padding = new RectOffset(10, 0, 0, 5), - normal = {textColor = Color.white}, + normal = { textColor = Color.white }, fixedWidth = 300 }; - messageStyle = new GUIStyle + m_MessageStyle = new GUIStyle { alignment = TextAnchor.MiddleLeft, padding = new RectOffset(10, 0, 5, 5), - normal = {textColor = Color.white}, + normal = { textColor = Color.white }, fixedWidth = 300, wordWrap = true }; - scrollRect = new Rect(); + m_ScrollRect = new Rect(); + } + + Color GetConnectionColor(float elapsedTime) + { + var bright = new Color(1, 1, 0.5f); + var mid = new Color(0, 1, 1); + var dark = new Color(0, 0.5f, 1); + const float brightDuration = 0.03f; + const float fadeToDarkDuration = 1.0f; + + if (!ROSConnection.instance.HasConnectionThread) + return Color.gray; + if (ROSConnection.instance.HasConnectionError) + return Color.red; + if (elapsedTime <= brightDuration) + return bright; + else + return Color.Lerp(mid, dark, elapsedTime / fadeToDarkDuration); } void OnGUI() @@ -115,52 +134,72 @@ void OnGUI() return; // Initialize main HUD - GUILayout.BeginVertical("box"); + GUILayout.BeginVertical(GUI.skin.box, GUILayout.Width(300)); // ROS IP Setup - GUILayout.Label("ROS IP:", labelStyle); - GUILayout.Label(host, contentStyle); + GUILayout.BeginHorizontal(); + Color baseColor = GUI.color; + GUI.color = GetConnectionColor(Time.realtimeSinceStartup - m_LastMessageReceivedRealtime); + GUILayout.Label("\u25C0", m_LabelStyle, GUILayout.Width(10)); + GUI.color = GetConnectionColor(Time.realtimeSinceStartup - m_LastMessageSentRealtime); + GUILayout.Label("\u25B6", m_LabelStyle, GUILayout.Width(15)); + GUI.color = baseColor; + GUILayout.Label("ROS IP: ", m_LabelStyle, GUILayout.Width(100)); + + if (!ROSConnection.instance.HasConnectionThread) + { + ROSConnection.instance.RosIPAddress = GUILayout.TextField(ROSConnection.instance.RosIPAddress); + GUILayout.EndHorizontal(); + GUILayout.Label("(Not connected)"); + if (GUILayout.Button("Connect")) + ROSConnection.instance.Connect(); + } + else + { + GUILayout.Label(host, m_ContentStyle); + GUILayout.EndHorizontal(); + } // Last message sent - GUILayout.Label("Last Message Sent:", labelStyle); - GUILayout.Label(lastMessageSentMeta, contentStyle); - if (lastMessageSent != null) - viewSent = GUILayout.Toggle(viewSent, "View contents"); + GUILayout.Label("Last Message Sent:", m_LabelStyle); + GUILayout.Label(m_LastMessageSentMeta, m_ContentStyle); + if (m_LastMessageSent != null) + m_ViewSent = GUILayout.Toggle(m_ViewSent, "View contents"); // Last message received - GUILayout.Label("Last Message Received:", labelStyle); - GUILayout.Label(lastMessageReceivedMeta, contentStyle); - if (lastMessageReceived != null) - viewRecv = GUILayout.Toggle(viewRecv, "View contents"); + GUILayout.Label("Last Message Received:", m_LabelStyle); + GUILayout.Label(m_LastMessageReceivedMeta, m_ContentStyle); + if (m_LastMessageReceived != null) + m_ViewRecv = GUILayout.Toggle(m_ViewRecv, "View contents"); - GUILayout.Label($"{activeServices.Count} Active Service Requests:", labelStyle); + GUILayout.Label($"{activeServices.Count} Active Service Requests:", m_LabelStyle); if (activeServices.Count > 0) { - var dots = new String('.', (int) Time.time % 4); - GUILayout.Label($"Waiting for service response{dots}", contentStyle); + var dots = new String('.', (int)Time.time % 4); + GUILayout.Label($"Waiting for service response{dots}", m_ContentStyle); } - viewSrvs = GUILayout.Toggle(viewSrvs, "View services status"); + m_ViewSrvs = GUILayout.Toggle(m_ViewSrvs, "View services status"); GUILayout.EndVertical(); // Update length of scroll if (GUILayoutUtility.GetLastRect().height > 1 && GUILayoutUtility.GetLastRect().width > 1) - scrollRect = GUILayoutUtility.GetLastRect(); + m_ScrollRect = GUILayoutUtility.GetLastRect(); // Optionally show message contents - float y = scrollRect.yMax; - if (viewSent) + float y = m_ScrollRect.yMax; + if (m_ViewSent) { - y = ShowMessage(lastMessageSent, y); + y = ShowMessage(m_LastMessageSent, y); } - if (viewRecv) + if (m_ViewRecv) { - y = ShowMessage(lastMessageReceived, y); + y = ShowMessage(m_LastMessageReceived, y); } - if (viewSrvs) + if (m_ViewSrvs) { foreach (MessageViewState service in activeServices) { @@ -210,10 +249,10 @@ float ShowMessage(MessageViewState msgView, float y, bool showElapsedTime = fals // Paste contents of message if (showElapsedTime) - GUILayout.Label($"{msgView.label} ({Time.time - msgView.timestamp})", labelStyle); + GUILayout.Label($"{msgView.label} ({Time.time - msgView.timestamp})", m_LabelStyle); else - GUILayout.Label(msgView.label, labelStyle); - GUILayout.Label(msgView.message.ToString(), messageStyle); + GUILayout.Label(msgView.label, m_LabelStyle); + GUILayout.Label(msgView.message.ToString(), m_MessageStyle); GUILayout.EndVertical(); GUI.EndScrollView(); @@ -225,4 +264,4 @@ float ShowMessage(MessageViewState msgView, float y, bool showElapsedTime = fals return panelRect.yMax; } } -} \ No newline at end of file +} diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs index a7546b08..540822b3 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs +++ b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs @@ -11,171 +11,152 @@ using System.Globalization; using UnityEngine; using UnityEngine.Serialization; +using System.Collections.Concurrent; +using System.Threading; namespace Unity.Robotics.ROSTCPConnector { public class ROSConnection : MonoBehaviour { // Variables required for ROS communication - [FormerlySerializedAs("hostName")] public string rosIPAddress = "127.0.0.1"; - [FormerlySerializedAs("hostPort")] public int rosPort = 10000; + [SerializeField] + [FormerlySerializedAs("hostName")] + [FormerlySerializedAs("rosIPAddress")] + string m_RosIPAddress = "127.0.0.1"; + public string RosIPAddress { get => m_RosIPAddress; set => m_RosIPAddress = value; } + + [SerializeField] + [FormerlySerializedAs("hostPort")] + [FormerlySerializedAs("rosPort")] + int m_RosPort = 10000; + public int RosPort { get => m_RosPort; set => m_RosPort = value; } + + [SerializeField] + bool m_ConnectOnStart = true; + public bool ConnectOnStart { get => m_ConnectOnStart; set => m_ConnectOnStart = value; } + + [SerializeField] + [Tooltip("Send keepalive message if nothing has been sent for this long (seconds).")] + float m_KeepaliveTime = 10; + public float KeepaliveTime { get => m_KeepaliveTime; set => m_KeepaliveTime = value; } + + [SerializeField] + float m_NetworkTimeoutSeconds = 2; + public float NetworkTimeoutSeconds { get => m_NetworkTimeoutSeconds; set => m_NetworkTimeoutSeconds = value; } + + [SerializeField] + float m_SleepTimeSeconds = 0.01f; + public float SleepTimeSeconds { get => m_SleepTimeSeconds; set => m_SleepTimeSeconds = value; } + + [SerializeField] + [FormerlySerializedAs("showHUD")] + bool m_ShowHUD = true; + public bool ShowHud { get => m_ShowHUD; set => m_ShowHUD = value; } + + const string k_Topic_Error = "__error"; + const string k_Topic_SysCommand = "__syscommand"; + const string k_Topic_Services = "__srv"; + + const string k_SysCommand_Subscribe = "subscribe"; + const string k_SysCommand_Publish = "publish"; + const string k_SysCommand_RosService = "ros_service"; + const string k_SysCommand_UnityService = "unity_service"; - [Tooltip("If blank, determine IP automatically.")] - public string overrideUnityIP = ""; - - public int unityPort = 5005; - bool alreadyStartedServer = false; - - private int networkTimeout = 2000; - - [Tooltip("While waiting for a service to respond, check this many times before giving up.")] - public int awaitDataMaxRetries = 10; - - [Tooltip("While waiting for a service to respond, wait this many seconds between checks.")] - public float awaitDataSleepSeconds = 1.0f; - - [Tooltip("While reading received messages, read this many bytes at a time.")] - public int readChunkSize = 2048; + // GUI window variables + internal HUDPanel m_HudPanel = null; - [Tooltip("While waiting to read a full message, check this many times before giving up.")] - public int awaitDataReadRetry = 10; + ConcurrentQueue> m_OutgoingMessages = new ConcurrentQueue>(); + ConcurrentQueue> m_IncomingMessages = new ConcurrentQueue>(); + CancellationTokenSource m_ConnectionThreadCancellation; - [Tooltip("Close connection if nothing has been sent for this long (seconds).")] - public float timeoutOnIdle = 10; + public bool HasConnectionThread => m_ConnectionThreadCancellation != null; - static object _lock = new object(); // sync lock - static List activeConnectionTasks = new List(); // pending connections + static bool m_HasConnectionError = false; + public bool HasConnectionError => m_HasConnectionError; - const string ERROR_TOPIC_NAME = "__error"; - const string SYSCOMMAND_TOPIC_NAME = "__syscommand"; - const string HANDSHAKE_TOPIC_NAME = "__handshake"; + static float s_RealTimeSinceStartup = 0.0f;// only the main thread can access Time.realTimeSinceStartup, so make a copy here - const string SYSCOMMAND_SUBSCRIBE = "subscribe"; - const string SYSCOMMAND_PUBLISH = "publish"; + readonly object m_ServiceRequestLock = new object(); + int m_NextSrvID = 101; + Dictionary m_ServicesWaiting = new Dictionary(); - // GUI window variables - internal HUDPanel hudPanel = null; + struct SubscriberCallback + { + public Func messageConstructor; + public List> callbacks; + } - public bool showHUD = true; + Dictionary m_Subscribers = new Dictionary(); - struct SubscriberCallback + struct UnityServiceImplementation { - public ConstructorInfo messageConstructor; - public List> callbacks; + public Func messageConstructor; + public Func callback; } - Dictionary subscribers = new Dictionary(); + Dictionary m_UnityServices = new Dictionary(); public void Subscribe(string topic, Action callback) where T : Message, new() { SubscriberCallback subCallbacks; - if (!subscribers.TryGetValue(topic, out subCallbacks)) + if (!m_Subscribers.TryGetValue(topic, out subCallbacks)) { subCallbacks = new SubscriberCallback { - messageConstructor = typeof(T).GetConstructor(new Type[0]), - callbacks = new List> { } + messageConstructor = () => new T(), + callbacks = new List> { } }; - subscribers.Add(topic, subCallbacks); + m_Subscribers.Add(topic, subCallbacks); } subCallbacks.callbacks.Add((Message msg) => { - callback((T) msg); - return null; + callback((T)msg); }); } public void ImplementService(string topic, Func callback) where T : Message, new() { - SubscriberCallback subCallbacks; - if (!subscribers.TryGetValue(topic, out subCallbacks)) + m_UnityServices[topic] = new UnityServiceImplementation { - subCallbacks = new SubscriberCallback - { - messageConstructor = typeof(T).GetConstructor(new Type[0]), - callbacks = new List> { } - }; - subscribers.Add(topic, subCallbacks); - } - - subCallbacks.callbacks.Add((Message msg) => { return callback((T) msg); }); + messageConstructor = () => new T(), + callback = (Message msg) => callback((T)msg) + }; } - public async void SendServiceMessage(string rosServiceName, Message serviceRequest, - Action callback) where RESPONSE : Message, new() + public async void SendServiceMessage(string rosServiceName, Message serviceRequest, Action callback) where RESPONSE : Message, new() { - // Serialize the message in service name, message size, and message bytes format - byte[] messageBytes = GetMessageBytes(rosServiceName, serviceRequest); - - TcpClient client = new TcpClient(); - await client.ConnectAsync(rosIPAddress, rosPort); - - NetworkStream networkStream = client.GetStream(); - networkStream.ReadTimeout = networkTimeout; - - RESPONSE serviceResponse = new RESPONSE(); - - int serviceID = 0; - - // Send the message - try - { - if (hudPanel != null) serviceID = hudPanel.AddServiceRequest(rosServiceName, serviceRequest); - networkStream.Write(messageBytes, 0, messageBytes.Length); - } - catch (Exception e) - { - Debug.LogError("SocketException: " + e); - goto finish; - } - - if (!networkStream.CanRead) - { - Debug.LogError("Sorry, you cannot read from this NetworkStream."); - goto finish; - } - - // Poll every 1 second(s) for available data on the stream - int attempts = 0; - while (!networkStream.DataAvailable && attempts <= this.awaitDataMaxRetries) - { - if (attempts == this.awaitDataMaxRetries) - { - Debug.LogError("No data available on network stream after " + awaitDataMaxRetries + " attempts."); - goto finish; - } - - attempts++; - await Task.Delay((int) (awaitDataSleepSeconds * 1000)); - } - + RESPONSE response = await SendServiceMessage(rosServiceName, serviceRequest); try { - string serviceName; - (string topicName, byte[] content) = await ReadMessageContents(networkStream); - serviceResponse.Deserialize(content, 0); + callback(response); } catch (Exception e) { - Debug.LogError("Exception raised!! " + e); + Debug.LogError("Exception in service callback: " + e); } - - finish: - callback(serviceResponse); - if (hudPanel != null) hudPanel.AddServiceResponse(serviceID, serviceResponse); - if (client.Connected) - client.Close(); } public async Task SendServiceMessage(string rosServiceName, Message serviceRequest) where RESPONSE : Message, new() { - var t = new TaskCompletionSource(); + byte[] requestBytes = serviceRequest.Serialize(); + TaskPauser pauser = new TaskPauser(); - SendServiceMessage(rosServiceName, serviceRequest, s => t.TrySetResult(s)); + int srvID; + lock (m_ServiceRequestLock) + { + srvID = m_NextSrvID++; + m_ServicesWaiting.Add(srvID, pauser); + } - return await t.Task; + MRosUnitySrvMessage srvMessage = new MRosUnitySrvMessage(srvID, true, rosServiceName, requestBytes); + Send(k_Topic_Services, srvMessage); + + byte[] rawResponse = (byte[])await pauser.PauseUntilResumed(); + RESPONSE result = new RESPONSE(); + result.Deserialize(rawResponse, 0); + return result; } public void GetTopicList(Action callback) @@ -185,13 +166,22 @@ public void GetTopicList(Action callback) public void RegisterSubscriber(string topic, string rosMessageName) { - SendSysCommand(SYSCOMMAND_SUBSCRIBE, - new SysCommand_Subscribe {topic = topic, message_name = rosMessageName}); + SendSysCommand(k_SysCommand_Subscribe, new SysCommand_TopicAndType { topic = topic, message_name = rosMessageName }); } public void RegisterPublisher(string topic, string rosMessageName) { - SendSysCommand(SYSCOMMAND_PUBLISH, new SysCommand_Publish {topic = topic, message_name = rosMessageName}); + SendSysCommand(k_SysCommand_Publish, new SysCommand_TopicAndType { topic = topic, message_name = rosMessageName }); + } + + public void RegisterRosService(string topic, string rosMessageName) + { + SendSysCommand(k_SysCommand_RosService, new SysCommand_TopicAndType { topic = topic, message_name = rosMessageName }); + } + + public void RegisterUnityService(string topic, string rosMessageName) + { + SendSysCommand(k_SysCommand_UnityService, new SysCommand_TopicAndType { topic = topic, message_name = rosMessageName }); } private static ROSConnection _instance; @@ -227,20 +217,40 @@ void OnEnable() private void Start() { - if(!IPFormatIsCorrect(rosIPAddress)) - Debug.LogError("ROS IP address is not correct"); InitializeHUD(); - Subscribe(ERROR_TOPIC_NAME, RosUnityErrorCallback); + Subscribe(k_Topic_Error, RosUnityErrorCallback); + Subscribe(k_Topic_Services, ProcessServiceMessage); - if (overrideUnityIP != "") + if (ConnectOnStart) { - if(!IPFormatIsCorrect(overrideUnityIP)) - Debug.LogError("Override Unity IP address is not correct"); - StartMessageServer(overrideUnityIP, unityPort); // no reason to wait, if we already know the IP + Connect(); } + } + + public void Connect(string ipAddress, int port) + { + m_RosIPAddress = ipAddress; + m_RosPort = port; + Connect(); + } + + public void Connect() + { + if (!IPFormatIsCorrect(m_RosIPAddress)) + Debug.LogError("ROS IP address is not correct"); + + if (m_HudPanel != null) + m_HudPanel.host = $"{m_RosIPAddress}:{m_RosPort}"; - SendServiceMessage(HANDSHAKE_TOPIC_NAME, - new MUnityHandshakeRequest(overrideUnityIP, (ushort) unityPort), RosUnityHandshakeCallback); + m_ConnectionThreadCancellation = new CancellationTokenSource(); + Task.Run(() => ConnectionThread(m_RosIPAddress, m_RosPort, m_NetworkTimeoutSeconds, m_KeepaliveTime, (int)(m_SleepTimeSeconds * 1000.0f), m_OutgoingMessages, m_IncomingMessages, m_ConnectionThreadCancellation.Token)); + } + + public void Disconnect() + { + if (m_ConnectionThreadCancellation != null) + m_ConnectionThreadCancellation.Cancel(); + m_ConnectionThreadCancellation = null; } void OnValidate() @@ -250,21 +260,16 @@ void OnValidate() private void InitializeHUD() { - if (!Application.isPlaying || (!showHUD && hudPanel == null)) + if (!Application.isPlaying || (!m_ShowHUD && m_HudPanel == null)) return; - if (hudPanel == null) + if (m_HudPanel == null) { - hudPanel = gameObject.AddComponent(); - hudPanel.host = $"{rosIPAddress}:{rosPort}"; + m_HudPanel = gameObject.AddComponent(); + m_HudPanel.host = $"{RosIPAddress}:{RosPort}"; } - hudPanel.isEnabled = showHUD; - } - - void RosUnityHandshakeCallback(MUnityHandshakeResponse response) - { - StartMessageServer(response.ip, unityPort); + m_HudPanel.isEnabled = m_ShowHUD; } void RosUnityErrorCallback(MRosUnityError error) @@ -272,211 +277,220 @@ void RosUnityErrorCallback(MRosUnityError error) Debug.LogError("ROS-Unity error: " + error.message); } - /// TcpClient to read byte stream from. - protected async Task HandleConnectionAsync(TcpClient tcpClient) + private void Update() { - await Task.Yield(); + s_RealTimeSinceStartup = Time.realtimeSinceStartup; - // continue asynchronously on another thread - await ReadFromStream(tcpClient.GetStream()); - } + Tuple data; + while (m_IncomingMessages.TryDequeue(out data)) + { + (string topic, byte[] contents) = data; - async Task ReadFromStream(NetworkStream networkStream) - { - if (!networkStream.CanRead) - return; + // notify whatever is interested in this incoming message + SubscriberCallback callback; + if (m_Subscribers.TryGetValue(topic, out callback)) + { + Message message = callback.messageConstructor(); + message.Deserialize(contents, 0); + + if (m_HudPanel != null) + m_HudPanel.SetLastMessageReceived(topic, message); - SubscriberCallback subs; + callback.callbacks.ForEach(item => item(message)); + } + } + } - float lastDataReceivedRealTimestamp = 0; - do + void ProcessServiceMessage(MRosUnitySrvMessage message) + { + if (message.is_request) + { + UnityServiceImplementation service; + if (m_UnityServices.TryGetValue(message.topic, out service)) + { + Message requestMessage = service.messageConstructor(); + requestMessage.Deserialize(message.payload, 0); + Message responseMessage = service.callback(requestMessage); + byte[] responseBytes = responseMessage.Serialize(); + Send(k_Topic_Services, new MRosUnitySrvMessage(message.srv_id, false, message.topic, responseBytes)); + } + } + else { - // try to keep reading messages as long as the networkstream has data. - // But if it's taking too long, don't freeze forever. - float frameLimitRealTimestamp = Time.realtimeSinceStartup + 0.1f; - while (networkStream.DataAvailable && Time.realtimeSinceStartup < frameLimitRealTimestamp) + TaskPauser resumer; + lock (m_ServiceRequestLock) { - if (!Application.isPlaying) + if (!m_ServicesWaiting.TryGetValue(message.srv_id, out resumer)) { - networkStream.Close(); + Debug.LogError($"Unable to route service response on \"{message.topic}\"! SrvID {message.srv_id} does not exist."); return; } - (string topicName, byte[] content) = await ReadMessageContents(networkStream); - lastDataReceivedRealTimestamp = Time.realtimeSinceStartup; + m_ServicesWaiting.Remove(message.srv_id); + } + resumer.Resume(message.payload); + } + } - if (!subscribers.TryGetValue(topicName, out subs)) - continue; // not interested in this topic + static void SendKeepalive(NetworkStream stream) + { + // 8 zeroes = a ros message with topic "" and no message data. + stream.Write(new byte[] { 0, 0, 0, 0, 0, 0, 0, 0 }, 0, 8); + } + + static async Task ConnectionThread( + string rosIPAddress, + int rosPort, + float networkTimeoutSeconds, + float keepaliveTime, + int sleepMilliseconds, + ConcurrentQueue> outgoingQueue, + ConcurrentQueue> incomingQueue, + CancellationToken token) + { + //Debug.Log("ConnectionThread begins"); + int nextReaderIdx = 101; + int nextReconnectionDelay = 1000; - Message msg = (Message)subs.messageConstructor.Invoke(new object[0]); - msg.Deserialize(content, 0); + while (!token.IsCancellationRequested) + { + TcpClient client = null; + CancellationTokenSource readerCancellation = null; - if (hudPanel != null) - hudPanel.SetLastMessageReceived(topicName, msg); + try + { + ROSConnection.m_HasConnectionError = true; // until we actually see a reply back, assume there's a problem - foreach (Func callback in subs.callbacks) + client = new TcpClient(); + client.Connect(rosIPAddress, rosPort); + + NetworkStream networkStream = client.GetStream(); + networkStream.ReadTimeout = (int)(networkTimeoutSeconds * 1000); + + SendKeepalive(networkStream); + + readerCancellation = new CancellationTokenSource(); + _ = Task.Run(() => ReaderThread(nextReaderIdx, networkStream, incomingQueue, sleepMilliseconds, readerCancellation.Token)); + nextReaderIdx++; + + // connected, now just watch our queue for outgoing messages to send (or else send a keepalive message occasionally) + while (true) { - try + Tuple data; + float waitingSinceRealTime = s_RealTimeSinceStartup; + token.ThrowIfCancellationRequested(); + while (!outgoingQueue.TryDequeue(out data)) { - Message response = callback(msg); - if (response != null) + Thread.Sleep(sleepMilliseconds); + if (s_RealTimeSinceStartup > waitingSinceRealTime + keepaliveTime) { - // if the callback has a response, it's implementing a service - WriteDataStaggered(networkStream, topicName, response); + SendKeepalive(networkStream); + waitingSinceRealTime = s_RealTimeSinceStartup; } + token.ThrowIfCancellationRequested(); } - catch (Exception e) - { - Debug.LogError("Subscriber callback problem: " + e); - } + + WriteDataStaggered(networkStream, data.Item1, data.Item2); + } + } + catch (OperationCanceledException) + { + } + catch (Exception e) + { + ROSConnection.m_HasConnectionError = true; + Debug.Log($"Connection to {rosIPAddress}:{rosPort} failed - " + e); + await Task.Delay(nextReconnectionDelay); + } + finally + { + if (readerCancellation != null) + readerCancellation.Cancel(); + + if (client != null) + client.Close(); + + // clear the message queue + Tuple unused; + while (outgoingQueue.TryDequeue(out unused)) + { } } await Task.Yield(); - } - while (Time.realtimeSinceStartup < lastDataReceivedRealTimestamp + timeoutOnIdle); // time out if idle too long. - networkStream.Close(); + } } - async Task> ReadMessageContents(NetworkStream networkStream) + static async Task ReaderThread(int readerIdx, NetworkStream networkStream, ConcurrentQueue> queue, int sleepMilliseconds, CancellationToken token) { - // Get first bytes to determine length of topic name - byte[] rawTopicBytes = new byte[4]; - networkStream.Read(rawTopicBytes, 0, rawTopicBytes.Length); - int topicLength = BitConverter.ToInt32(rawTopicBytes, 0); - - // Read and convert topic name - byte[] topicNameBytes = new byte[topicLength]; - networkStream.Read(topicNameBytes, 0, topicNameBytes.Length); - string topicName = Encoding.ASCII.GetString(topicNameBytes, 0, topicLength); - - byte[] full_message_size_bytes = new byte[4]; - networkStream.Read(full_message_size_bytes, 0, full_message_size_bytes.Length); - int full_message_size = BitConverter.ToInt32(full_message_size_bytes, 0); - - byte[] readBuffer = new byte[full_message_size]; - int bytesRemaining = full_message_size; - int totalBytesRead = 0; - - int attempts = 0; - // Read in message contents until completion, or until attempts are maxed out - while (bytesRemaining > 0 && attempts <= this.awaitDataReadRetry) + while (!token.IsCancellationRequested) { - if (attempts == this.awaitDataReadRetry) + try { - Debug.LogError("No more data to read network stream after " + awaitDataReadRetry + " attempts."); - return Tuple.Create(topicName, readBuffer); - } - - // Read the minimum of the bytes remaining, or the designated readChunkSize in segments until none remain - int bytesRead = networkStream.Read(readBuffer, totalBytesRead, Math.Min(readChunkSize, bytesRemaining)); - totalBytesRead += bytesRead; - bytesRemaining -= bytesRead; + Tuple content = await ReadMessageContents(networkStream, sleepMilliseconds, token); + //Debug.Log($"Message {content.Item1} received"); + ROSConnection.m_HasConnectionError = false; - if (!networkStream.DataAvailable) + if (content.Item1 != "") // ignore keepalive messages + queue.Enqueue(content); + } + catch (OperationCanceledException) + { + } + catch (Exception e) { - attempts++; - await Task.Yield(); + ROSConnection.m_HasConnectionError = true; + Debug.Log("Reader " + readerIdx + " exception! " + e); } } - return Tuple.Create(topicName, readBuffer); } - /// - /// Handles multiple connections and locks. - /// - /// TcpClient to read byte stream from. - private async Task StartHandleConnectionAsync(TcpClient tcpClient) + static async Task ReadToByteArray(NetworkStream networkStream, byte[] array, int length, int sleepMilliseconds, CancellationToken token) { - var connectionTask = HandleConnectionAsync(tcpClient); - - lock (_lock) - activeConnectionTasks.Add(connectionTask); - - try + int read = 0; + while (read < length && networkStream.CanRead) { - await connectionTask; - // we may be on another thread after "await" - } - catch (Exception ex) - { - Debug.LogError(ex.ToString()); - } - finally - { - lock (_lock) - activeConnectionTasks.Remove(connectionTask); + while (!token.IsCancellationRequested && !networkStream.DataAvailable) + await Task.Delay(sleepMilliseconds); + + token.ThrowIfCancellationRequested(); + read += await networkStream.ReadAsync(array, read, length - read, token); } + + if (read < length) + throw new SocketException(); // the connection has closed } - TcpListener tcpListener; + static byte[] s_FourBytes = new byte[4]; + static byte[] s_TopicScratchSpace = new byte[64]; - protected async void StartMessageServer(string ip, int port) + static async Task> ReadMessageContents(NetworkStream networkStream, int sleepMilliseconds, CancellationToken token) { - if (alreadyStartedServer) - return; - - alreadyStartedServer = true; - while (true) - { - try - { - if (!Application.isPlaying) - break; - tcpListener = new TcpListener(IPAddress.Parse(ip), port); - tcpListener.Start(); + // Get first bytes to determine length of topic name + await ReadToByteArray(networkStream, s_FourBytes, 4, sleepMilliseconds, token); + int topicLength = BitConverter.ToInt32(s_FourBytes, 0); - Debug.Log("ROS-Unity server listening on " + ip + ":" + port); + // If our topic buffer isn't large enough, make a larger one (and keep it that size; assume that's the new standard) + if (topicLength > s_TopicScratchSpace.Length) + s_TopicScratchSpace = new byte[topicLength]; - while (true) //we wait for a connection - { - var tcpClient = await tcpListener.AcceptTcpClientAsync(); + // Read and convert topic name + await ReadToByteArray(networkStream, s_TopicScratchSpace, topicLength, sleepMilliseconds, token); + string topicName = Encoding.ASCII.GetString(s_TopicScratchSpace, 0, topicLength); - var task = StartHandleConnectionAsync(tcpClient); - // if already faulted, re-throw any error on the calling context - if (task.IsFaulted) - await task; + await ReadToByteArray(networkStream, s_FourBytes, 4, sleepMilliseconds, token); + int full_message_size = BitConverter.ToInt32(s_FourBytes, 0); - // try to get through the message queue before doing another await - // but if messages are arriving faster than we can process them, don't freeze up - float abortAtRealtime = Time.realtimeSinceStartup + 0.1f; - while (tcpListener.Pending() && Time.realtimeSinceStartup < abortAtRealtime) - { - tcpClient = tcpListener.AcceptTcpClient(); - task = StartHandleConnectionAsync(tcpClient); - if (task.IsFaulted) - await task; - } - } - } - catch (ObjectDisposedException e) - { - if (!Application.isPlaying) - { - // This only happened because we're shutting down. Not a problem. - } - else - { - Debug.LogError("Exception raised!! " + e); - } - } - catch (Exception e) - { - Debug.LogError("Exception raised!! " + e); - } + byte[] readBuffer = new byte[full_message_size]; + await ReadToByteArray(networkStream, readBuffer, full_message_size, sleepMilliseconds, token); - // to avoid infinite loops, wait a frame before trying to restart the server - await Task.Yield(); - } + return Tuple.Create(topicName, readBuffer); } - private void OnApplicationQuit() + void OnApplicationQuit() { - if (tcpListener != null) - tcpListener.Stop(); - tcpListener = null; + Disconnect(); } - /// /// Given some input values, fill a byte array in the desired format to use with /// https://github.com/Unity-Technologies/Robotics-Tutorials/tree/master/catkin_ws/src/tcp_endpoint @@ -533,13 +547,7 @@ public byte[] GetMessageBytes(string topicServiceName, Message message) return messageBuffer; } - struct SysCommand_Subscribe - { - public string topic; - public string message_name; - } - - struct SysCommand_Publish + struct SysCommand_TopicAndType { public string topic; public string message_name; @@ -547,45 +555,15 @@ struct SysCommand_Publish void SendSysCommand(string command, object param) { - Send(SYSCOMMAND_TOPIC_NAME, new MRosUnitySysCommand(command, JsonUtility.ToJson(param))); + Send(k_Topic_SysCommand, new MRosUnitySysCommand(command, JsonUtility.ToJson(param))); } - public async void Send(string rosTopicName, Message message) + public void Send(string rosTopicName, Message message) { - TcpClient client = null; - try - { - client = new TcpClient(); - await client.ConnectAsync(rosIPAddress, rosPort); + m_OutgoingMessages.Enqueue(new Tuple(rosTopicName, message)); - NetworkStream networkStream = client.GetStream(); - networkStream.ReadTimeout = networkTimeout; - - WriteDataStaggered(networkStream, rosTopicName, message); - } - catch (NullReferenceException e) - { - Debug.LogError("TCPConnector.SendMessage Null Reference Exception: " + e); - } - catch (Exception e) - { - Debug.LogError("TCPConnector Exception: " + e); - } - finally - { - if (client != null && client.Connected) - { - try - { - if (hudPanel != null) hudPanel.SetLastMessageSent(rosTopicName, message); - client.Close(); - } - catch (Exception) - { - //Ignored. - } - } - } + if (m_HudPanel != null) + m_HudPanel.SetLastMessageSent(rosTopicName, message); } /// @@ -601,7 +579,7 @@ public async void Send(string rosTopicName, Message message) /// The network stream that is transmitting the messsage /// The ROS topic or service name that is receiving the messsage /// The ROS message to send to a ROS publisher or service - private void WriteDataStaggered(NetworkStream networkStream, string rosTopicName, Message message) + static void WriteDataStaggered(NetworkStream networkStream, string rosTopicName, Message message) { byte[] topicName = message.SerializeString(rosTopicName); List segments = message.SerializationStatements(); @@ -618,25 +596,25 @@ private void WriteDataStaggered(NetworkStream networkStream, string rosTopicName public static bool IPFormatIsCorrect(string ipAddress) { - if(ipAddress == null || ipAddress == "") + if (ipAddress == null || ipAddress == "") return false; - + // If IP address is set using static lookup tables https://man7.org/linux/man-pages/man5/hosts.5.html - if(Char.IsLetter(ipAddress[0])) + if (Char.IsLetter(ipAddress[0])) { - foreach(Char subChar in ipAddress) + foreach (Char subChar in ipAddress) { - if(!(Char.IsLetterOrDigit(subChar) || subChar == '-'|| subChar == '.')) + if (!(Char.IsLetterOrDigit(subChar) || subChar == '-' || subChar == '.')) return false; } - if(!Char.IsLetterOrDigit(ipAddress[ipAddress.Length - 1])) + if (!Char.IsLetterOrDigit(ipAddress[ipAddress.Length - 1])) return false; return true; } string[] subAdds = ipAddress.Split('.'); - if(subAdds.Length != 4) + if (subAdds.Length != 4) { return false; } @@ -644,4 +622,4 @@ public static bool IPFormatIsCorrect(string ipAddress) return IPAddress.TryParse(ipAddress, out parsedipAddress); } } -} \ No newline at end of file +} diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/TaskPauser.cs b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/TaskPauser.cs new file mode 100644 index 00000000..c72fdc7e --- /dev/null +++ b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/TaskPauser.cs @@ -0,0 +1,36 @@ +using System.Collections; +using System.Collections.Generic; +using System.Threading; +using System.Threading.Tasks; +using UnityEngine; + +namespace Unity.Robotics.ROSTCPConnector +{ + public class TaskPauser + { + CancellationTokenSource m_Source = new CancellationTokenSource(); + public object Result { get; private set; } + + public async Task PauseUntilResumed() + { + try + { + while (!m_Source.Token.IsCancellationRequested) + { + await Task.Delay(10000, m_Source.Token); + } + } + catch (TaskCanceledException) + { + + } + return Result; + } + + public void Resume(object result) + { + Result = result; + m_Source.Cancel(); + } + } +} diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/TaskPauser.cs.meta similarity index 83% rename from com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeResponse.cs.meta rename to com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/TaskPauser.cs.meta index 71d81647..f1b0404a 100644 --- a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/PregeneratedMessages/RosTcpEndpoint/srv/MUnityHandshakeResponse.cs.meta +++ b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/TaskPauser.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 800428bac01226e4185243abce6a9e34 +guid: d0e0d908abf7adb4c8100dfeebafd18c MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/com.unity.robotics.ros-tcp-connector/package.json b/com.unity.robotics.ros-tcp-connector/package.json index 31f628a4..a78e2b5d 100644 --- a/com.unity.robotics.ros-tcp-connector/package.json +++ b/com.unity.robotics.ros-tcp-connector/package.json @@ -1,6 +1,6 @@ { "name": "com.unity.robotics.ros-tcp-connector", - "version": "0.3.0-preview", + "version": "0.4.0-preview", "displayName": "ROS TCP Connector", "description": "Bridge components and message generation allowing Unity to communicate with ROS services", "unity": "2020.2",