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Merge pull request #29 from toppers/varray
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可変長配列対応！
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@tmori
tmori authored Jun 14, 2024
2 parents b1df09b + 95ab511 commit 9f32ba7
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Showing 12 changed files with 336 additions and 180 deletions.
29 changes: 25 additions & 4 deletions plugin-srcs/Assets/Plugin/src/PureCsharp/PluggableAsset/Communication/Pdu/Raw/PduOffset.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,19 @@

namespace Hakoniwa.PluggableAsset.Communication.Pdu.Raw
{
public struct HakoPduMetaDataType
{
public uint magicno;
public uint version;
public uint base_off;
public uint heap_off;
public uint total_size;
}

public class PduBinOffsetElmInfo
{
public bool is_array;
public bool is_varray;
public bool is_primitive;
public string field_name;
public string type_name;
Expand Down Expand Up @@ -102,6 +112,7 @@ static public void Parse(string filepath)
string[] attr = line.Split(':');
PduBinOffsetElmInfo elm = new PduBinOffsetElmInfo();
elm.is_array = attr[0].Equals("array");
elm.is_varray = attr[0].Equals("varray");
elm.is_primitive = attr[1].Equals("primitive");
elm.field_name = attr[2];
if (attr[3].Contains("/") || IsPrimitive(attr[3]))
Expand All @@ -113,14 +124,24 @@ static public void Parse(string filepath)
elm.type_name = package_name + "/" + attr[3];
}
elm.offset = int.Parse(attr[4]);
off_info.size = elm.offset + int.Parse(attr[5]);
if (attr.Length >= 7)
if (elm.is_array || elm.is_varray)
{
elm.array_size = int.Parse(attr[6]);
elm.elm_size = int.Parse(attr[5]) / elm.array_size;
if (elm.is_array)
{
off_info.size = elm.offset + int.Parse(attr[5]);
elm.array_size = int.Parse(attr[6]);
elm.elm_size = int.Parse(attr[5]) / elm.array_size;
}
else
{
off_info.size = elm.offset + int.Parse(attr[6]);
elm.array_size = -1;
elm.elm_size = int.Parse(attr[5]);
}
}
else
{
off_info.size = elm.offset + int.Parse(attr[5]);
elm.array_size = 1;
elm.elm_size = int.Parse(attr[5]);
}
Expand Down
48 changes: 34 additions & 14 deletions ...ssets/Plugin/src/PureCsharp/PluggableAsset/Communication/Pdu/Raw/RawPduReaderConverter.cs
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Original file line number Diff line number Diff line change
@@ -1,10 +1,12 @@
using System;
using Hakoniwa.Core.Utils.Logger;
using Hakoniwa.PluggableAsset.Assets.Robot.Parts;

namespace Hakoniwa.PluggableAsset.Communication.Pdu.Raw
{
class RawPduReaderConverter : IPduReaderConverter
{
HakoPduMetaDataType meta;
public IPduCommData ConvertToIoData(IPduReader src)
{
if (!src.IsValidData())
Expand All @@ -24,10 +26,16 @@ public void ConvertToPduData(IPduCommData src, IPduReader dst)
{
throw new InvalidOperationException("Error: Can not found offset: type=" + type_name);
}
ConvertFromStruct(off_info, 0, buffer, dst.GetWriteOps());
meta = new HakoPduMetaDataType();
meta.magicno = BitConverter.ToUInt32(buffer, 0);
meta.version = BitConverter.ToUInt32(buffer, 4);
meta.base_off = BitConverter.ToUInt32(buffer, 8);
meta.heap_off = BitConverter.ToUInt32(buffer, 12);
meta.total_size = BitConverter.ToUInt32(buffer, 16);
ConvertFromStruct(meta, off_info, ConstantValues.PduMetaDataSize, buffer, dst.GetWriteOps());
}

private static void ConvertFromStruct(PduBinOffsetInfo off_info, int base_off, byte[] src_buffer, IPduWriteOperation dst)
private static void ConvertFromStruct(HakoPduMetaDataType meta, PduBinOffsetInfo off_info, int base_off, byte[] src_buffer, IPduWriteOperation dst)
{
//SimpleLogger.Get().Log(Level.INFO, "TO PDU:Start Convert: package=" + off_info.package_name + " type=" + off_info.type_name);
foreach (var elm in off_info.elms)
Expand All @@ -37,43 +45,55 @@ private static void ConvertFromStruct(PduBinOffsetInfo off_info, int base_off, b
//primitive
if (elm.is_array)
{
ConvertFromPrimtiveArray(elm, base_off, src_buffer, dst);
ConvertFromPrimtiveArray(elm, base_off, elm.offset, elm.array_size, src_buffer, dst);
}
else if (elm.is_varray)
{
int array_size = BitConverter.ToInt32(src_buffer, base_off + elm.offset);
int offset_from_heap = BitConverter.ToInt32(src_buffer, base_off + elm.offset + 4);
ConvertFromPrimtiveArray(elm, (int)meta.heap_off, offset_from_heap, array_size, src_buffer, dst);
}
else
{
ConvertFromPrimtive(elm, base_off, src_buffer, dst);
ConvertFromPrimtive(elm, base_off, elm.offset, src_buffer, dst);
}
}
else
{
//struct
if (elm.is_array)
{
ConvertFromStructArray(elm, base_off + elm.offset, src_buffer, dst);
ConvertFromStructArray(meta, elm, base_off, elm.offset, elm.array_size, src_buffer, dst);
}
else if (elm.is_varray)
{
int array_size = BitConverter.ToInt32(src_buffer, base_off + elm.offset);
int offset_from_heap = BitConverter.ToInt32(src_buffer, base_off + elm.offset + 4);
ConvertFromStructArray(meta, elm, (int)meta.heap_off, offset_from_heap, array_size, src_buffer, dst);
}
else
{
PduBinOffsetInfo struct_off_info = PduOffset.Get(elm.type_name);
ConvertFromStruct(struct_off_info, base_off + elm.offset, src_buffer, dst.Ref(elm.field_name).GetPduWriteOps());
ConvertFromStruct(meta, struct_off_info, base_off + elm.offset, src_buffer, dst.Ref(elm.field_name).GetPduWriteOps());
}
}
}
}


private static void ConvertFromStructArray(PduBinOffsetElmInfo elm, int base_off, byte[] src_buffer, IPduWriteOperation dst)
private static void ConvertFromStructArray(HakoPduMetaDataType meta, PduBinOffsetElmInfo elm, int base_off, int elm_off, int array_size, byte[] src_buffer, IPduWriteOperation dst)
{
PduBinOffsetInfo struct_off_info = PduOffset.Get(elm.type_name);
for (int i = 0; i < elm.array_size; i++)
for (int i = 0; i < array_size; i++)
{
Pdu dst_data = dst.Refs(elm.field_name)[i];
ConvertFromStruct(struct_off_info, base_off + (i * elm.elm_size), src_buffer, dst_data.GetPduWriteOps());
ConvertFromStruct(meta, struct_off_info, (base_off + elm_off) + (i * elm.elm_size), src_buffer, dst_data.GetPduWriteOps());
}
}

private static void ConvertFromPrimtive(PduBinOffsetElmInfo elm, int base_off, byte[] src_buffer, IPduWriteOperation dst)
private static void ConvertFromPrimtive(PduBinOffsetElmInfo elm, int base_off, int elm_off, byte[] src_buffer, IPduWriteOperation dst)
{
var off = base_off + elm.offset;
var off = base_off + elm_off;
switch (elm.type_name)
{
case "int8":
Expand Down Expand Up @@ -120,10 +140,10 @@ private static void ConvertFromPrimtive(PduBinOffsetElmInfo elm, int base_off, b
throw new InvalidCastException("Error: Can not found ptype: " + elm.type_name);
}
}
private static void ConvertFromPrimtiveArray(PduBinOffsetElmInfo elm, int base_off, byte[] src_buffer, IPduWriteOperation dst)
private static void ConvertFromPrimtiveArray(PduBinOffsetElmInfo elm, int base_off, int elm_off, int array_size, byte[] src_buffer, IPduWriteOperation dst)
{
int roff = base_off + elm.offset;
for (int i = 0; i < elm.array_size; i++)
int roff = base_off + elm_off;
for (int i = 0; i < array_size; i++)
{
//SimpleLogger.Get().Log(Level.INFO, "field=" + elm.field_name);
//SimpleLogger.Get().Log(Level.INFO, "type=" + elm.type_name);
Expand Down
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