public override void deserialize(MemoryStream stream, std_msgs.msg.Int32 data)
{
using (BinaryReader reader = new BinaryReader(stream))
{
Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader);
read(data, cdr);
}
}
public override void serialize(std_msgs.msg.Int32 data, MemoryStream stream)
{
using (BinaryWriter writer = new BinaryWriter(stream))
{
Halodi.CDR.CDRSerializer cdr = new Halodi.CDR.CDRSerializer(writer);
write(data, cdr);
}
}
public static int getCdrSerializedSize(std_msgs.msg.Int32 data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
return(current_alignment - initial_alignment);
}
public void SubscriptionCallbackMessageData()
{
int messageData = 12345;
node.CreateSubscription <std_msgs.msg.Int32>("subscription_test_topic", (msg) => { messageData = msg.Data; });
std_msgs.msg.Int32 published_msg = new std_msgs.msg.Int32();
published_msg.Data = 42;
publisher.Publish(published_msg);
Rclcs.SpinOnce(node, context, 0.1);
Assert.That(messageData, Is.EqualTo(42));
}
public void SubscriptionQosDefaultDepth()
{
int count = 0;
node.CreateSubscription <std_msgs.msg.Int32>("subscription_test_topic",
(msg) => { count += 1; });
std_msgs.msg.Int32 published_msg = new std_msgs.msg.Int32();
published_msg.Data = 42;
for (int i = 0; i < 10; i++)
{
publisher.Publish(published_msg);
}
for (int i = 0; i < 11; i++)
{
Rclcs.SpinOnce(node, context, 0.1);
}
Assert.That(count, Is.EqualTo(10));
}
public void SubscriptionQosSensorDataDepth()
{
int count = 0;
QualityOfServiceProfile qosProfile = new QualityOfServiceProfile(QosProfiles.SENSOR_DATA);
node.CreateSubscription <std_msgs.msg.Int32>("subscription_test_topic",
(msg) => { count += 1; },
qosProfile);
std_msgs.msg.Int32 published_msg = new std_msgs.msg.Int32();
published_msg.data = 42;
for (int i = 0; i < 6; i++)
{
publisher.Publish(published_msg);
}
for (int i = 0; i < 11; i++)
{
Rclcs.SpinOnce(node, 0.1);
}
Assert.That(count, Is.EqualTo(5));
}
public static void Copy(std_msgs.msg.Int32 src, std_msgs.msg.Int32 target)
{
target.Set(src);
}
public static void read(std_msgs.msg.Int32 data, Halodi.CDR.CDRDeserializer cdr)
{
data.data = cdr.read_type_2();
}
public static void write(std_msgs.msg.Int32 data, Halodi.CDR.CDRSerializer cdr)
{
cdr.write_type_2(data.data);
}
public static int getCdrSerializedSize(std_msgs.msg.Int32 data)
{
return(getCdrSerializedSize(data, 0));
}