public void WriteString(string val)
{
CDRWriter writer = new CDRWriter();
writer.WriteString(val);
Assert.Equal(4 + 4 + val.Length + 1, writer.GetBuffer().Length);
CDRReader reader = new CDRReader(writer.GetBuffer().ToArray());
Assert.Equal(val, reader.ReadString());
}
public static void SubscriberCallback(Zenoh.Net.Sample sample)
{
CDRReader reader = new CDRReader(sample.Payload);
var userID = reader.ReadInt32();
var message = reader.ReadString();
Console.WriteLine("=== [Subscriber] Received : Message ({0}, {1})",
userID,
message);
}
private void OutCallback(Zenoh.Net.Sample sample)
{
// received type: rcl_interfaces/msg/Log
CDRReader reader = new CDRReader(sample.Payload);
// builtin_interfaces/Time stamp => int32 sec + uint32 nanosec
var stamp_sec = reader.ReadInt32();
var stamp_nanosec = reader.ReadUInt32();
// uint8 level
var level = reader.ReadByte();
// string name
var name = reader.ReadString();
// string msg
var msg = reader.ReadString();
// string file
var file = reader.ReadString();
// string function
var function = reader.ReadString();
// uint32 line
var line = reader.ReadUInt32();
Console.WriteLine("[{0}.{1}] [{2}]: {3}", stamp_sec, stamp_nanosec, name, msg);
}
public void BasicTypesAlignment()
{
var buf = new byte[] {
0x00, 0x00, 0x00, 0x00, // Header
0xFF, // 1 byte to force padding
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // padding for 8-bytes alignment
0x0A, 0x0B, 0x0C, 0X0D, 0x0E, 0x0F, 0x01, 0X02, // uint64
0xFF, // 1 byte to force padding
0x00, 0x00, 0x00, // padding for 4-bytes alignment
0x0A, 0x0B, 0x0C, 0X0D, // uint32
0xFF, // 1 byte to force padding
0x00, // padding for 2-bytes alignment
0x0A, 0x0B, // uint16
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, // 5 bytes to force padding
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // padding for 8-bytes alignment
0x3F, 0x84, 0x7A, 0xE1, 0x47, 0xAE, 0x14, 0x7B, // double
0xFF, // 1 byte to force padding
0x00, 0x00, 0x00, // padding for 4-bytes alignment
0x3C, 0x23, 0xD7, 0x0A, // float
0xFF, // 1 byte to force padding
0x00, 0x00, 0x00, // padding for 4-bytes alignment
0x00, 0x00, 0x00, 0x0D, // "Hello World!"
0x48, 0x65, 0x6c, 0x6c, 0x6f, 0x20,
0x57, 0x6f, 0x72, 0x6c, 0x64, 0x21, 0x00
};
CDRReader reader = new CDRReader(buf);
Assert.Equal(0xFF, reader.ReadByte());
Assert.Equal(0x0A0B0C0D0E0F0102UL, reader.ReadUInt64());
Assert.Equal(0xFF, reader.ReadByte());
Assert.Equal(0x0A0B0C0DU, reader.ReadUInt32());
Assert.Equal(0xFF, reader.ReadByte());
Assert.Equal(0x0A0B, reader.ReadUInt16());
Assert.Equal(0xFF, reader.ReadByte());
Assert.Equal(0xFF, reader.ReadByte());
Assert.Equal(0xFF, reader.ReadByte());
Assert.Equal(0xFF, reader.ReadByte());
Assert.Equal(0xFF, reader.ReadByte());
Assert.Equal(0.01, reader.ReadDouble());
Assert.Equal(0xFF, reader.ReadByte());
Assert.Equal(0.01f, reader.ReadSingle());
Assert.Equal(0xFF, reader.ReadByte());
Assert.Equal("Hello World!", reader.ReadString());
}
public void ReadString(string expected, byte[] buf)
{
CDRReader reader = new CDRReader(buf);
Assert.Equal(expected, reader.ReadString());
}
