revolventnu / rosnet Goto Github PK

Should use as generic of an interface as possible

Some leads:
-https://github.com/ros/ros_comm/blob/3f8eca4a1f13996b33c03a5c4ee3a69fb0db3668/tools/rosbag/src/rosbag/bag.py#L2875 (and with that try to look at generated code from rospy or roscpp)

• https://docs.microsoft.com/en-us/dotnet/api/system.runtime.serialization.iformatter
• https://docs.microsoft.com/en-us/dotnet/api/system.runtime.serialization.formatters.binary.binaryformatter
• https://dotnetfalcon.com/implementing-the-iformatter-interface/
• https://github.com/ros/ros_comm/blob/noetic-devel/clients/roscpp/src/libros/message_deserializer.cpp

Look to RevolveUavcan using github actions

Also remember licensing from RosSharp if the serialization changes are pushed to master

After some changes, the whole "len" variable and the incrementing of it is unneccessary

Fix toString in arrayFieldValue when string and PrettyValue in FieldValue

• Defining what the application is supposted to do
• make it estetically nice

From https://www.merriam-webster.com:
Parse:

to divide (a sentence) into grammatical parts and identify the parts and their relations to each other

Serialize (and deserialize):

Serialize: to arrange or publish in serial form

This makes the naming of RosMessageParser.MessageDataParser particularly confusing, as it actually (de)serialises a message. Note that with #56, it is likely that all serialization will be part of each generated class, so this whole class should probably be removed?

This is a deprecated testing project

Most of the code is just one huge method. Refactoring into a "ParseLine" method (and potentially other smaller methods) will make it more readable

Currently, fieldValue in the headers is changed into a string after being read. This was done for quickly implementing different types, but should be changed. The type should be dependant on the data within it, or at least a better standard than string

It is way easier for the end user if our RosBag class is as similar as possible to existing implementations. Use https://github.com/strawlab/ros_comm/blob/master/tools/rosbag/src/rosbag/bag.py as a reference point for methods and fields accessible to the user

Make connections set their data in the constructor, instead of using SetConnectionData

http://wiki.ros.org/Bags/Format/2.0
According to the format, you have a ROSBag that consists of Chunks which again
consists of different types of records. The code structure should mirror this in some way,
making it easier to implement writing Bags down the line

After adding DocFX online documentation, it would be nice if every function it displays has properly defined parameter and return values

Add pictures and codecoverage to readme

Need to implement some primitive type unknown or similar as well, and change exception in RosBagReader.cs line 268 to instead use this default parsing

Most of the functionality of our static classes and methods can easily be moved into the non-static classes

http://wiki.ros.org/Bags/Format/2.0

They come in in lower case, and are converted to upper case. This must also be changed

http://wiki.ros.org/Bags/Format/2.0

Could be O(1) with the right setup. Probably need to change some of the structure for how we save connections and messages, but be aware of what things are guaranteed unique (Conn ID etc.) and what is not (Topic?)

https://docs.microsoft.com/en-us/dotnet/csharp/language-reference/xmldoc/

Related suggestion from Henrik berg:

Would suggest to just use .NET 6, (after looking at https://devblogs.microsoft.com/dotnet/the-future-of-net-standard/, I see no reason to use .NET Standard 2.1), and with 10

Når vi er på saken må dere huske å bruke enable og enable (sistnevnte relevant når dere bruke C# 10), ingen grunn til å ikke bruke det og gjør håndtering av null-verdier sinnsykt mye enklere, se https://docs.microsoft.com/en-us/dotnet/csharp/language-reference/builtin-types/nullable-reference-types og https://docs.microsoft.com/en-us/dotnet/csharp/language-reference/builtin-types/nullable-value-types

http://wiki.ros.org/Bags/Format/2.0

Store all headers in a dictionary and have public string MD5Sum => this.headers["md5sum"]

See https://github.com/dotnet/roslyn/blob/main/docs/features/source-generators.cookbook.md#additional-file-transformation, should be fairly simple to implement.

Writing a tool for Console.WriteLine-ing:
header in plain text, based on length described in header_len

http://wiki.ros.org/Bags/Format/2.0

Currently the file path to the ROS Bag is hard coded. This should be passed in from the Console App instead. This probably means the "Reader" class should be rewritten to a "ROSBag" class, which you instantiatiate with a path

The Time value in ROSbags aren't inherently obvious how to use, so should be made into a class with a method like "GetDateTime" or something similar

Making this class is essential before working on implementing individual data types