public void IncomingDataToReceiver()
{
int messageTarget = 1;
string messageData = "Test message data";
Message expectedMessage = new Message {
id = messageTarget, stringData = messageData
};
Message sourceMessage = new Message {
id = messageTarget, stringData = messageData
};
ProtoBufPresentation pbPres = new ProtoBufPresentation();
DummyMessageReceiver receiver = new DummyMessageReceiver(expectedMessage);
pbPres.SetReceiver(receiver);
byte[] binaryMessage = pbPres.MessageToBinaryData(sourceMessage);
IDataLink datalink = NSubstitute.Substitute.For <IDataLink>();
pbPres.IncomingData(binaryMessage, datalink);
pbPres.IncomingData(binaryMessage, datalink);
byte[] firstHalf = new byte[6];
byte[] secondHalf = new byte[binaryMessage.Length - 6];
Array.Copy(binaryMessage, 0, firstHalf, 0, 6);
Array.Copy(binaryMessage, 6, secondHalf, 0, binaryMessage.Length - 6);
pbPres.IncomingData(firstHalf, datalink);
pbPres.IncomingData(secondHalf, datalink);
}
public void CommunicatorSendAndRecieve()
{
DummyReceiver receiver = new DummyReceiver();
ProtoBufPresentation pp = new ProtoBufPresentation();
pp.SetReceiver(receiver);
DummyDataLink datalink = new DummyDataLink(pp);
Communicator com = new Communicator(datalink, pp);
Message sendMessage = new Message {
id = 2, stringData = "Message data..."
};
Assert.True(com.SendCommand(sendMessage));
// No need to wait; a dummy data link is used so sending command is followed up with incomingmessage
Assert.NotNull(receiver.incomingMessage);
Assert.AreEqual(receiver.incomingMessage.id, sendMessage.id);
Assert.AreEqual(receiver.incomingMessage.stringData, sendMessage.stringData);
}
public void MessageToBinaryData()
{
// Setup
ProtoBufPresentation pbPres = new ProtoBufPresentation();
IMessageReceiver receiver = NSubstitute.Substitute.For <IMessageReceiver>();
pbPres.SetReceiver(receiver);
int messageTarget = 1;
string messageData = "Test message data";
Message sourceMessage = new Message {
id = messageTarget, stringData = messageData
};
MemoryStream stream = new MemoryStream();
Serializer.Serialize <Message>(stream, sourceMessage);
byte[] binaryData = stream.ToArray();
// Serializing
byte[] resultData = pbPres.MessageToBinaryData(sourceMessage);
// Checking
// Size
Assert.AreEqual(binaryData.Length, BitConverter.ToInt32(resultData, 0));
// Data
for (int i = 0; i < binaryData.Length; i++)
{
Assert.AreEqual(binaryData[i], resultData[i + sizeof(Int32)]);
}
}
public void BinaryDataToMessage()
{
// Setup
ProtoBufPresentation pbPres = new ProtoBufPresentation();
IMessageReceiver receiver = NSubstitute.Substitute.For <IMessageReceiver>();
pbPres.SetReceiver(receiver);
int messageTarget = 1;
string messageData = "Test message data";
Message sourceMessage = new Message {
id = messageTarget, stringData = messageData
};
MemoryStream stream = new MemoryStream();
Serializer.Serialize(stream, sourceMessage);
List <byte> binaryData = new List <byte>();
byte[] data = stream.ToArray();
binaryData.AddRange(BitConverter.GetBytes((Int32)data.Length));
binaryData.AddRange(data);
// Deserializing
Message result = pbPres.BinaryDataToMessage(binaryData.ToArray());
// Checking
Assert.NotNull(result);
Assert.AreEqual(result.id, messageTarget);
Assert.AreEqual(result.stringData, messageData);
}
void Awake()
{
// TODO: Robots should be initialized somewhere else, initialise dummy objects
ProtoBufPresentation pp = new ProtoBufPresentation();
LocalDataLink dl = new LocalDataLink();
Communicator c = new Communicator(dl, pp);
shape = null;
_rotationSem = new Semaphore(0, 1);
_communicator = c;
Alive = true;
}
public static bool ConnectToUnity(out Communicator communicator, string unityIp, ushort unityPort, int timeout = -1)
{
communicator = null;
//Creates a connection to the robot using the specified hostname and port
TcpClient tcpClient = new TcpClient();
IAsyncResult ar = tcpClient.BeginConnect(unityIp, unityPort, null, null);
WaitHandle wh = ar.AsyncWaitHandle;
try
{
if (!wh.WaitOne(timeout, false))
{
tcpClient.Close();
wh.Close();
return(false);
}
tcpClient.EndConnect(ar);
}
catch (SocketException ex)
{
Console.WriteLine(ex.Message);
return(false);
}
finally
{
wh.Close();
}
IDataLink _dataLink = new TCPDataLink(tcpClient);
IPresentationProtocol _protocol = new ProtoBufPresentation();
_dataLink.SetReceiver(_protocol);
communicator = new Communicator(_dataLink, _protocol);
return(true);
}
public void AddDummyBot()
{
// Debug.Log("Spoofing prereqs...");
ProtoBufPresentation pp = new ProtoBufPresentation();
DummyReceiver dummyReceiver = new DummyReceiver();
pp.SetReceiver(dummyReceiver);
DummyDataLink datalink = new DummyDataLink(pp);
Communicator com = new Communicator(datalink, pp);
//create message, set response
MessageTarget_ target = MessageTarget_.Robot;
MessageType_ type = MessageType_.CustomMessage;
Message DummyMessage = MessageBuilder.CreateMessage(target, type);
DummyMessage.SetIdentificationResponse("dummyBot");
/*
* First wait for the other identification messages to be processed to prevent race conditions
*/
if (_ev.WaitOne(10000))
{
_ev.Reset();
_connection = com;
_newMessage = DummyMessage;
_continueRegistration = true;
_ev.WaitOne(1000);
}
}
