Debugging scriptTF

gistfile1.st

PhaROSPacket>>dump
    | anEncoder stream |

    type check: value.

    stream := WriteStream on: (ByteArray new: (type dataTypeSizeFor: value ) + 4). "<<<<<"
    anEncoder  := PhaROSEncoder on: stream.
    self encodePacketSize: (type dataTypeSizeFor: value) into: anEncoder.    
    
    type serialize: value into: anEncoder.
    anEncoder flush.
    ^ stream contents.


" ... luego se ejecuta ..."

PhaROSCompositeType>>dataTypeSizeFor: aValue "VALUE 1" 
    "beware of recursive structures!"
    | acc |
    acc := 0.
    
    typeDefinition keysAndValuesDo:[ :attributeName :type |
            acc := acc + (type dataTypeSizeFor: (aValue perform: attributeName asSymbol)). "<<<"
     ].

    ^ acc.

" se entra al bloque keyAndValuesDo: y se vuelve a dataTypeSizeFor: pero en VALUE 2 "

PhaROSArrayType>>dataTypeSizeFor: aValue  "VALUE 2" 
self flag: #cambiarEstooo. " "

    (self isAPossibleValue: aValue ) ifFalse: [
        PhaROSUnexpextedValue signal: 'Unexpected value'.
    ].
    
    ^(aValue inject: 0 into:[
        :acc :val | 
        acc + (self  relatedType dataTypeSizeFor: val ).
    ]).

" ... hasta que paf! "


PhaROSArrayType>>isAPossibleValue: aValue
    ^( aValue isKindOf: Collection ) and: [ "<<< acá se cae ya que no es una colección, sino que es una instancia de Geometry_msgsTransformStamped"
        aValue allSatisfy: [
            :val |
            self relatedType isAPossibleValue: val.
        ]    
    ].

---
"VALUE 1"
TftfMessage>>

    transforms:Geometry_msgsTransformStamped>>

    transform:Geometry_msgsTransform>>

    translation:Geometry_msgsVector3>>

    x:0.0 | y:0.0 | z:0.0 | 

 | rotation:Geometry_msgsQuaternion>>

    x:0.0 | y:0.0 | z:0.0 | w:1.0 | 

 | 

 | child_frame_id:/base_link | header:Std_msgsHeader>>

    seq:270909 | frame_id:/odom | stamp:now | 

 | 

 | 

------------
"VALUE 2 - Obtenido luego de la primera recursión de dataTypeSizeFor:"

Geometry_msgsTransformStamped>>

    transform:Geometry_msgsTransform>>

    translation:Geometry_msgsVector3>>

    x:0.0 | y:0.0 | z:0.0 | 

 | rotation:Geometry_msgsQuaternion>>

    x:0.0 | y:0.0 | z:0.0 | w:1.0 | 

 | 

 | child_frame_id:/base_link | header:Std_msgsHeader>>

    seq:270907 | frame_id:/odom | stamp:now | 

 |