Remove Reflection Code

Author: EricVoll

Libraries/RosBridgeClient/Communicators.cs

@@ -15,7 +15,6 @@ limitations under the License.
 
 using Newtonsoft.Json.Linq;
 using System;
-using System.Reflection;
 
 namespace RosSharp.RosBridgeClient
 {
@@ -25,13 +24,11 @@ namespace RosSharp.RosBridgeClient
 
     internal abstract class Communicator
     {
-        public static string GetRosName<T>() where T : Message
+        public static string GetRosName<T>() where T : Message, new()
         {
-#if !WINDOWS_UWP
-            return (string)typeof(T).GetField("RosMessageName").GetRawConstantValue();
-#else
-            return (string)typeof(T).GetTypeInfo().GetDeclaredField("RosMessageName").GetValue(null);
-#endif
+            string name = new T().RosMessageName;
+            Output.Log(name);
+            return name;
         }
     }
     internal abstract class Publisher : Communicator
@@ -47,7 +44,7 @@ internal Unadvertisement Unadvertise()
         }
     }
 
-    internal class Publisher<T> : Publisher where T : Message
+    internal class Publisher<T> : Publisher where T : Message, new()
     {
         internal override string Id { get; }
         internal override string Topic { get; }
@@ -79,7 +76,7 @@ internal Unsubscription Unsubscribe()
         }
     }
 
-    internal class Subscriber<T> : Subscriber where T : Message
+    internal class Subscriber<T> : Subscriber where T : Message, new()
     {
         internal override string Id { get; }
         internal override string Topic { get; }
@@ -113,7 +110,7 @@ internal ServiceUnadvertisement UnadvertiseService()
         }
     }
 
-    internal class ServiceProvider<Tin, Tout> : ServiceProvider where Tin : Message where Tout : Message
+    internal class ServiceProvider<Tin, Tout> : ServiceProvider where Tin : Message, new() where Tout : Message
     {
         internal override string Service { get; }
         internal ServiceCallHandler<Tin, Tout> ServiceCallHandler;
@@ -125,7 +122,7 @@ internal ServiceProvider(string service, ServiceCallHandler<Tin, Tout> serviceCa
         }
 
         internal override Communication Respond(string id, JToken args = null)
-        { 
+        {
             bool isSuccess = ServiceCallHandler.Invoke(args.ToObject<Tin>(), out Tout result);
             return new ServiceResponse<Tout>(id, Service, result, isSuccess);
         }

Libraries/RosBridgeClient/Message.cs

@@ -13,9 +13,13 @@ You may obtain a copy of the License at
 limitations under the License.
 */
 
+using Newtonsoft.Json;
+
 namespace RosSharp.RosBridgeClient
 {
     public abstract class Message
     {
+        [JsonIgnore]
+        public string RosMessageName;
     }
 }

Libraries/RosBridgeClient/Messages/Geometry/Accel.cs

@@ -19,14 +19,13 @@ namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
         public class Accel : Message
     {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/Accel";
         public Vector3 linear;
         public Vector3 angular;
         public Accel()
         {
             linear = new Vector3();
             angular = new Vector3();
+            RosMessageName = "geometry_msgs/Accel";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Geometry/Point.cs

@@ -19,8 +19,6 @@ namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
     public class Point : Message
     {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/Point";
         public float x;
         public float y;
         public float z;
@@ -29,6 +27,7 @@ public Point()
             x = 0;
             y = 0;
             z = 0;
+            RosMessageName = "geometry_msgs/Point";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Geometry/PointStamped.cs

@@ -18,15 +18,14 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
     public class PointStamped : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/PointStamped";
+    { 
         public Standard.Header header;
         public Point point;
         public PointStamped()
         {
             header = new Standard.Header();
             point = new Point();
+            RosMessageName = "geometry_msgs/PointStamped";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Geometry/Pose.cs

@@ -18,15 +18,14 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
     public class Pose : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/Pose";
+    { 
         public Point position;
         public Quaternion orientation;
         public Pose()
         {
             position = new Point();
             orientation = new Quaternion();
+            RosMessageName = "geometry_msgs/Pose";
         }
     }
 

Libraries/RosBridgeClient/Messages/Geometry/PoseStamped.cs

@@ -18,15 +18,14 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
     public class PoseStamped : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/PoseStamped";
+    { 
         public Standard.Header header;
         public Pose pose;
         public PoseStamped()
         {
             header = new Standard.Header();
             pose = new Pose();
+            RosMessageName = "geometry_msgs/PoseStamped";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Geometry/PoseWithCovariance.cs

@@ -19,14 +19,13 @@ namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
     public class PoseWithCovariance : Message
     {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/PoseWithCovariance";
         public Pose pose;
         public float[] covariance;
         public PoseWithCovariance()
         {
             pose = new Pose();
             covariance = new float[36];
+            RosMessageName = "geometry_msgs/PoseWithCovariance";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Geometry/Quaternion.cs

@@ -17,10 +17,8 @@ limitations under the License.
 
 namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
-    public class Quaternion : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/Quaternion";
+    public class Quaternion : Message {
+
         public float x;
         public float y;
         public float z;
@@ -31,6 +29,7 @@ public Quaternion()
             y = 0;
             z = 0;
             w = 0;
+            RosMessageName = "geometry_msgs/Quaternion";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Geometry/Transform.cs

@@ -18,15 +18,13 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
     public class Transform : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/Transform";
+    { 
         public Vector3 translation;
         public Quaternion rotation;
         public Transform()
         {
             translation = new Vector3();
-            rotation = new Quaternion();
+            rotation = new Quaternion(); RosMessageName = "geometry_msgs/Transform";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Geometry/TransformStamped.cs

@@ -18,17 +18,15 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
     public class TransformStamped : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/TransformStamped";
+    { 
         public string child_frame_id;
         public Standard.Header header;
         public Transform transform;
         public TransformStamped()
         {
             header = new Standard.Header();
             child_frame_id = "";
-            transform = new Transform();
+            transform = new Transform(); RosMessageName = "geometry_msgs/TransformStamped";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Geometry/Twist.cs

@@ -18,15 +18,13 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
     public class Twist : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/Twist";
+    { 
         public Vector3 linear;
         public Vector3 angular;
         public Twist()
         {
             linear = new Vector3();
-            angular = new Vector3();
+            angular = new Vector3(); RosMessageName = "geometry_msgs/Twist";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Geometry/TwistWithCovariance.cs

@@ -18,15 +18,13 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
     public class TwistWithCovariance : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/TwistWithCovariance";
+    { 
         public Twist twist;
         public float[] covariance;
         public TwistWithCovariance()
         {
             twist = new Twist();
-            covariance = new float[36];
+            covariance = new float[36]; RosMessageName = "geometry_msgs/TwistWithCovariance";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Geometry/Vector3.cs

@@ -18,17 +18,15 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Geometry
 {
     public class Vector3 : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "geometry_msgs/Vector3";
+    { 
         public float x;
         public float y;
         public float z;
         public Vector3()
         {
             x = 0f;
             y = 0f;
-            z = 0f;
+            z = 0f; RosMessageName = "geometry_msgs/Vector3";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Navigation/MapMetaData.cs

@@ -18,9 +18,7 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Navigation
 {
     public class MapMetaData : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "nav_msgs/MapMetaData";
+    { 
         public Standard.Time map_load_time;
         public float resolution;
         public uint width;
@@ -33,7 +31,7 @@ public MapMetaData()
             resolution = 0;
             width = 0;
             height = 0;
-            origin = new Geometry.Pose();
+            origin = new Geometry.Pose(); RosMessageName = "nav_msgs/MapMetaData";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Navigation/OccupancyGrid.cs

@@ -18,17 +18,15 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Navigation
 {
     public class OccupancyGrid : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "nav_msgs/OccupancyGrid";
+    { 
         public Standard.Header header;
         public MapMetaData info;
         public sbyte[] data;
         public OccupancyGrid()
         {
             header = new Standard.Header();
             info = new MapMetaData();
-            data = null;
+            data = null; RosMessageName = "nav_msgs/OccupancyGrid";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Navigation/Odometry.cs

@@ -18,9 +18,7 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Navigation
 {
    public class Odometry : Message
-    {
-        [JsonIgnore]
-        public const string RosMessageName = "nav_msgs/Odometry";
+    { 
         public Standard.Header header;
         public string child_frame_id;
         public Geometry.PoseWithCovariance pose;
@@ -30,7 +28,7 @@ public Odometry()
             header = new Standard.Header();
             child_frame_id = "";
             pose = new Geometry.PoseWithCovariance();
-            twist = new Geometry.TwistWithCovariance();
+            twist = new Geometry.TwistWithCovariance(); RosMessageName = "nav_msgs/Odometry";
         }
     }
 }

Libraries/RosBridgeClient/Messages/Sensor/CompressedImage.cs

@@ -18,17 +18,15 @@ limitations under the License.
 namespace RosSharp.RosBridgeClient.Messages.Sensor
 {
     public class CompressedImage : Message
-    {
-        [JsonIgnore]        
-        public const string RosMessageName = "sensor_msgs/CompressedImage";
+    { 
         public Standard.Header header;
         public string format;
         public byte[] data;
         public CompressedImage()
         {
             header = new Standard.Header();
             format = "";
-            data = new byte[0];
+            data = new byte[0]; RosMessageName = "sensor_msgs/CompressedImage";
         }
     }
 }