public void CanWriteAndReadRosTime()
{
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
var writtenTime = new DateTime(2021, 03, 15, 18, 55, 12, 7, DateTimeKind.Unspecified)
.ToRosTime();
// Writing should convert to UTC.
writer.WriteBuiltInType(typeof(RosTime), writtenTime);
// Read back what we wrote.
s.Position = 0;
var readTime = (RosTime)reader.ReadRosTime();
// Expected behaviour is that time in ROS-Messages is UTC.
// Max difference is 0.001 since only milliseconds are preserved and ROS uses nanoseconds.
readTime.Seconds.Should().Be(writtenTime.Seconds);
readTime.Nanoseconds.Should().Be(writtenTime.Nanoseconds);
readTime.DateTime.Kind.Should().Be(DateTimeKind.Utc);
readTime.DateTime.Should().BeCloseTo(writtenTime.DateTime, TimeSpan.FromSeconds(0.001));
}
}
public void WriteNullStringThrowsException()
{
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
Action writeAction = () => writer.WriteBuiltInType(typeof(string), null);
writeAction.Should().Throw <ArgumentNullException>();
}
}
private static Action Serialize(object message)
{
return(() =>
{
var formatter = new DescriptorBasedMessageFormatter();
var context = new SerializationContext(Stream.Null, new[] { formatter }, new MessageTypeRegistry());
var messageTypeInfo = context.MessageTypeRegistry.GetOrCreateMessageTypeInfo(message.GetType());
var writer = new RosBinaryWriter(context.Stream);
formatter.Serialize(context, writer, messageTypeInfo, message);
});
}
public void CanWriteAndReadString()
{
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
writer.Write("xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxASDF");
s.Position = 0;
reader.ReadString().Should().Be("xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxASDF");
}
}
public void CanWriteAndReadTimeSpan()
{
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
var writtenTimeSpan = TimeSpan.FromSeconds(123456789.123);
writer.WriteBuiltInType(typeof(TimeSpan), writtenTimeSpan);
s.Position = 0;
var readTime = (TimeSpan)reader.ReadBuiltInType(typeof(TimeSpan));
Assert.Equal(writtenTimeSpan, readTime);
}
}
public void CanWriteAndReadInt()
{
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
writer.Write((int)4);
writer.Write((int)5);
writer.Write((int)6);
s.Position = 0;
reader.ReadInt32().Should().Be(4);
reader.ReadInt32().Should().Be(5);
reader.ReadInt32().Should().Be(6);
}
}
public void CanWriteAndReadDateTime()
{
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
var writtenTime = DateTime.Now;
// Writing should convert to UTC.
writer.WriteBuiltInType(typeof(DateTime), writtenTime);
// Read back what we wrote.
s.Position = 0;
var readTime = (DateTime)reader.ReadBuiltInType(typeof(DateTime));
// Expected behaviour is that time in ROS-Messages is UTC.
// Max difference is 0.001 since only milliseconds are preserved and ROS uses nanoseconds.
Assert.Equal(writtenTime.ToUniversalTime(), readTime, TimeSpan.FromSeconds(0.001));
}
}
public void CanWriteAndReadBuiltInTypes2(string rosType, object writeValue, object expectedValue)
{
var primitiveRosType = RosType.Parse(rosType);
primitiveRosType.IsBuiltIn.Should().BeTrue();
primitiveRosType.IsArray.Should().BeFalse();
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
writer.WriteBuiltInType(primitiveRosType, writeValue);
s.Position = 0;
var readValue = reader.ReadBuiltInType(primitiveRosType, expectedValue.GetType());
readValue.Should().BeEquivalentTo(expectedValue);
readValue.GetType().Should().Be(expectedValue.GetType());
}
}
public void Serialize(SerializationContext context, RosBinaryWriter writer, IRosMessageTypeInfo messageTypeInfo, object o)
{
throw new NotSupportedException("This formatter only supports deserialization");
}
