fix all types

Author: kazu-321

src/ros2cs/rosidl_generator_cs/resource/msg.cs.em

@@ -336,11 +336,7 @@ public class @(message_class) : @(internals_interface), @(parent_interface)
       int arraySize = 0;
       IntPtr pArr = native_read_field_@(member.name)(out arraySize, handle);
       @(get_field_name(member.type, member.name, message_class)) = new @(get_dotnet_type(member.type.value_type))[arraySize];
-@[    if (get_marshal_array_type(member.type)) == 'char']@
-      byte[] __@(get_field_name(member.type, member.name, message_class)) = new byte[arraySize];
-@[    else]@
       @(get_marshal_array_type(member.type))[] __@(get_field_name(member.type, member.name, message_class)) = new @(get_marshal_array_type(member.type))[arraySize];
-@[    end if]@
       if (arraySize != 0)
       {
         int start = 0;

src/ros2cs/rosidl_generator_cs/rosidl_generator_cs/generate_cs_impl.py

@@ -80,9 +80,8 @@ def get_c_type(type_):
 BASIC_IDL_TYPES_TO_MARSHAL = {
     'float': 'R4',
     'double': 'R8',
-    'long double': 'R8',
-    'char': 'I1',
-    'wchar': 'I2',
+    'char': 'U1',
+    'wchar': 'U4',
     'boolean': 'I1',
     'octet': 'U1',
     'uint8': 'U1',
@@ -93,6 +92,7 @@ def get_c_type(type_):
     'int32': 'I4',
     'uint64': 'U8',
     'int64': 'I8',
+    # 'long double' is NotSupported
 }
 
 
@@ -105,21 +105,21 @@ def get_marshal_type(type_):
 
 
 BASIC_IDL_TYPES_TO_MARSHAL_ARRAY = {
+    'uint64': 'ulong',
     'float': 'float',
     'double': 'double',
-    'long double': 'double',
-    'char': 'char',
-    'wchar': 'short',
-    'boolean': 'byte',
+    'char': 'byte',
+    'wchar': 'uint',
     'octet': 'byte',
+    'boolean': 'bool',
+    'int8': 'sbyte',
     'uint8': 'byte',
-    'int8': 'char',
-    'uint16': 'short',
     'int16': 'short',
-    'uint32': 'int',
+    'uint16': 'ushort',
     'int32': 'int',
-    'uint64': 'long',
+    'uint32': 'uint',
     'int64': 'long',
+    # 'long double' is NotSupported
 }
 
 
@@ -130,13 +130,11 @@ def get_marshal_array_type(type_):
         return BASIC_IDL_TYPES_TO_MARSHAL_ARRAY[type_.value_type.typename]
     assert False, "unsupported marshal array type '%s'" % type_
 
-
 BASIC_IDL_TYPES_TO_DOTNET = {
     'float' : 'float',
     'double' : 'double',
-    'long double': 'double',
-    'char' : 'char',
-    'wchar' : 'ushort',
+    'char' : 'byte',
+    'wchar' : 'uint',
     'boolean' : 'bool',
     'octet' : 'byte',
     'uint8' : 'byte',
@@ -147,6 +145,7 @@ def get_marshal_array_type(type_):
     'int32' : 'int',
     'uint64' : 'ulong',
     'int64' : 'long',
+    # 'long double' is NotSupported
 }