public void TestMessageDefinitionProperties()
{
var testDefText = "string text";
var typeName = "string";
var msgDef = new RosMessageDefinition(typeName, testDefText, new Dictionary <string, RosMessageDefinition>());
Assert.AreEqual(msgDef.Type, typeName);
Assert.AreEqual(msgDef.FieldList[0], "text");
Assert.AreEqual(msgDef.GetFieldType("text"), "string");
}
public void TestNestedMessageDefition()
{
var testDefText1 = "string text";
var typeName1 = "string_msgs";
var msgDef1 = new RosMessageDefinition(typeName1, testDefText1, new Dictionary <string, RosMessageDefinition>());
var testDefText2 = "int seq\n string_msgs next ";
var msgDef2 = new RosMessageDefinition("someMessage", testDefText2, msgDef1.KnownMsgDefinitions);
Assert.AreEqual(msgDef2.GetFieldType("next"), "string_msgs");
Assert.AreEqual(msgDef2.FieldList.Count, 2);
}
public void TestSingleMessageDefition()
{
var testDefText = @"# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data
# in a particular coordinate frame.
#
# sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
string frame_id
";
var typeName = "string";
var msgDef = new RosMessageDefinition(typeName, testDefText, new Dictionary <string, RosMessageDefinition>());
Assert.AreEqual(msgDef.FieldList.Count, 3);
Assert.AreEqual(msgDef.GetFieldType("stamp"), "time");
Assert.AreEqual(msgDef.GetFieldType("seq"), "uint32");
Assert.AreEqual(msgDef.GetFieldType("frame_id"), "string");
}
