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Clean up json/hdmap serialization code.
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@martins-mozeiko
martins-mozeiko committed Mar 13, 2019
1 parent 39a237e commit 59be90f
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Showing 3 changed files with 58 additions and 192 deletions.
141 changes: 28 additions & 113 deletions Assets/Scripts/Map/MapUtil.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -490,7 +490,7 @@ public static Vector3 GetUnityPosition(Ros.PointENU point)
public static void SerializeHDMap(HDMap map, out StringBuilder sb)
{
sb = new StringBuilder();
SerializeInternal(1, sb, map.GetType(), map, sType: SerialType.HDMap);
SerializeInternal(1, sb, map.GetType(), map);
sb.Trim();
if (sb[0] == '{')
{
Expand All @@ -502,35 +502,21 @@ public static void SerializeHDMap(HDMap map, out StringBuilder sb)
}
}

public enum SerialType
{
JSON,
HDMap,
}

static readonly Dictionary<Type, string> BuiltinMessageTypes = new Dictionary<Type, string> {
{ typeof(bool), "std_msgs/Bool" },
{ typeof(sbyte), "std_msgs/Int8" },
{ typeof(short), "std_msgs/Int16" },
{ typeof(int), "std_msgs/Int32" },
{ typeof(long), "std_msgs/Int64" },
{ typeof(byte), "std_msgs/UInt8" },
{ typeof(ushort), "std_msgs/UInt16" },
{ typeof(uint), "std_msgs/UInt32" },
{ typeof(ulong), "std_msgs/UInt64" },
{ typeof(float), "std_msgs/Float32" },
{ typeof(double), "std_msgs/Float64" },
{ typeof(string), "std_msgs/String" },
{ typeof(bool), "std_msgs/Bool" },
{ typeof(sbyte), "std_msgs/Int8" },
{ typeof(short), "std_msgs/Int16" },
{ typeof(int), "std_msgs/Int32" },
{ typeof(long), "std_msgs/Int64" },
{ typeof(byte), "std_msgs/UInt8" },
{ typeof(ushort), "std_msgs/UInt16" },
{ typeof(uint), "std_msgs/UInt32" },
{ typeof(ulong), "std_msgs/UInt64" },
{ typeof(float), "std_msgs/Float32" },
{ typeof(double), "std_msgs/Float64" },
{ typeof(string), "std_msgs/String" },
};

public struct PartialByteArray
{
public byte[] Array;
public int Length;

public string Base64;
}

public static void Escape(StringBuilder sb, string text)
{
foreach (char c in text)
Expand Down Expand Up @@ -571,10 +557,8 @@ static bool CheckBasicType(Type type)
return false;
}

public static void SerializeInternal(int version, StringBuilder sb, Type type, object message, SerialType sType = SerialType.JSON, string keyName = "")
public static void SerializeInternal(int version, StringBuilder sb, Type type, object message, string keyName = "")
{
var nulChr = (object)null;

if (type.IsNullable())
{
type = Nullable.GetUnderlyingType(type);
Expand All @@ -596,15 +580,7 @@ public static void SerializeInternal(int version, StringBuilder sb, Type type, o
}
else if (type.IsEnum)
{
if (sType == SerialType.JSON)
{
var etype = type.GetEnumUnderlyingType();
SerializeInternal(version, sb, etype, Convert.ChangeType(message, etype), sType: sType);
}
else if (sType == SerialType.HDMap)
{
sb.Append(message.ToString());
}
sb.Append(message.ToString());
}
else if (BuiltinMessageTypes.ContainsKey(type))
{
Expand All @@ -617,36 +593,6 @@ public static void SerializeInternal(int version, StringBuilder sb, Type type, o
sb.Append(message.ToString());
}
}
else if (type == typeof(PartialByteArray) && sType == SerialType.JSON)
{
PartialByteArray arr = (PartialByteArray)message;
if (version == 1)
{
sb.Append('"');
if (arr.Base64 == null)
{
sb.Append(System.Convert.ToBase64String(arr.Array, 0, arr.Length));
}
else
{
sb.Append(arr.Base64);
}
sb.Append('"');
}
else
{
sb.Append(sType == SerialType.JSON ? '[' : nulChr);
for (int i = 0; i < arr.Length; i++)
{
sb.Append(arr.Array[i]);
if (i < arr.Length - 1)
{
sb.Append(sType == SerialType.JSON ? ',' : ' ');
}
}
sb.Append(sType == SerialType.JSON ? ']' : nulChr);
}
}
else if (type.IsArray)
{
if (type.GetElementType() == typeof(byte) && version == 1)
Expand All @@ -658,39 +604,35 @@ public static void SerializeInternal(int version, StringBuilder sb, Type type, o
else
{
Array arr = (Array)message;
sb.Append(sType == SerialType.JSON ? '[' : nulChr);
for (int i = 0; i < arr.Length; i++)
{
if (sType == SerialType.HDMap && i > 0)
if (i > 0)
{
sb.Append(keyName);
}
SerializeInternal(version, sb, type.GetElementType(), arr.GetValue(i), sType: sType);
SerializeInternal(version, sb, type.GetElementType(), arr.GetValue(i));
if (i < arr.Length - 1)
{
sb.Append(sType == SerialType.JSON ? ',' : ' ');
sb.Append(' ');
}
}
sb.Append(sType == SerialType.JSON ? ']' : nulChr);
}
}
else if (type.IsGenericList())
{
IList list = (IList)message;
sb.Append(sType == SerialType.JSON ? '[' : nulChr);
for (int i = 0; i < list.Count; i++)
{
if (sType == SerialType.HDMap && i > 0)
if (i > 0)
{
sb.Append(keyName);
}
SerializeInternal(version, sb, list[i].GetType(), list[i], sType: sType);
SerializeInternal(version, sb, list[i].GetType(), list[i]);
if (i < list.Count - 1)
{
sb.Append(sType == SerialType.JSON ? ',' : ' ');
sb.Append(' ');
}
}
sb.Append(sType == SerialType.JSON ? ']' : nulChr);
}
else if (type == typeof(Time))
{
Expand Down Expand Up @@ -733,54 +675,27 @@ public static void SerializeInternal(int version, StringBuilder sb, Type type, o
var oneFieldValue = oneInfo.Value;
var oneFieldType = oneInfo.Value.GetType();

sb.Append(sType == SerialType.JSON ? '"' : nulChr);
sb.Append(oneFieldName);
sb.Append(sType == SerialType.JSON ? '"' : nulChr);

if (sType == SerialType.HDMap)
{
if (CheckBasicType(oneFieldType) || (oneFieldType.IsCollectionType() && CheckBasicType(oneFieldType.GetCollectionElement())))
{
sb.Append(':');
}
SerializeInternal(version, sb, oneFieldType, oneFieldValue, sType: sType, keyName: oneFieldName);
}
else if (sType == SerialType.JSON)
if (CheckBasicType(oneFieldType) || (oneFieldType.IsCollectionType() && CheckBasicType(oneFieldType.GetCollectionElement())))
{
sb.Append(':');
SerializeInternal(version, sb, oneFieldType, oneFieldValue, sType: sType);
}
sb.Append(sType == SerialType.JSON ? ',' : ' ');
SerializeInternal(version, sb, oneFieldType, oneFieldValue, oneFieldName);

sb.Append(' ');
}
}
}
else if (fieldValue != null || (fieldType.IsNullable() && Attribute.IsDefined(field, typeof(global::Apollo.RequiredAttribute))))
{
sb.Append(sType == SerialType.JSON ? '"' : nulChr);
sb.Append(field.Name);
sb.Append(sType == SerialType.JSON ? '"' : nulChr);

if (sType == SerialType.HDMap)
{
if (CheckBasicType(fieldType) || (fieldType.IsCollectionType() && CheckBasicType(fieldType.GetCollectionElement())))
{
sb.Append(':');
}
SerializeInternal(version, sb, fieldType, fieldValue, sType: sType, keyName: field.Name);
}
else if (sType == SerialType.JSON)
if (CheckBasicType(fieldType) || (fieldType.IsCollectionType() && CheckBasicType(fieldType.GetCollectionElement())))
{
sb.Append(':');
SerializeInternal(version, sb, fieldType, fieldValue, sType: sType);
}
sb.Append(sType == SerialType.JSON ? ',' : ' ');
}
}
if (sType == SerialType.JSON)
{
if (sb[sb.Length - 1] == ',')
{
sb.Remove(sb.Length - 1, 1);
SerializeInternal(version, sb, fieldType, fieldValue, field.Name);
sb.Append(' ');
}
}

Expand Down
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