public void Initialize()
{
Ros.MasterUri = new Uri("http://localhost:11311/");
Ros.HostName = "localhost";
var topicContainer = new TopicContainer();
topicContainer.AddPublisher(new Publisher<std_msgs.String>("/test_topic", "test"));
var tcpListener = new TcpRosListener(0);
_slaveServer = new SlaveServer("test", 0, topicContainer);
_slaveServer.AddListener("/test_topic", tcpListener);
}
public void Initialize()
{
Ros.MasterUri = new Uri("http://localhost:11311/");
Ros.HostName = "localhost";
Ros.TopicTimeout = 3000;
Ros.XmlRpcTimeout = 3000;
_container = new TopicContainer();
var listener = new TcpRosListener(0);
_slaveServer = new SlaveServer("test", 0, _container);
_slaveServer.AddListener("test", listener);
_slaveClient = new SlaveClient(_slaveServer.SlaveUri);
}
internal SlaveServer(string nodeId, int portNumber, TopicContainer topicContainer)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
_topicContainer = topicContainer;
_tcpRosListener = new Dictionary<string, TcpRosListener>();
string slaveName = "slave" + Guid.NewGuid().ToString("N");
_channel = new HttpServerChannel(slaveName, portNumber, new XmlRpcServerFormatterSinkProvider());
var tmp = new Uri(_channel.GetChannelUri());
SlaveUri = new Uri("http://" + Ros.HostName + ":" + tmp.Port + "/" + slaveName);
ChannelServices.RegisterChannel(_channel, false);
RemotingServices.Marshal(this, slaveName); //Marshalするときの名前に/を入れるとだめ。
}
public void AddSubscriber_AlreadyAdded()
{
var container = new TopicContainer();
ISubscriber sub;
container.HasSubscriber("sub1").Is(false);
container.GetSubscribers().Count.Is(0);
container.AddSubscriber(new Subscriber<std_msgs.String>("sub1", "test")).Is(true);
container.HasSubscriber("sub1").Is(true);
container.GetSubscribers().Count.Is(1);
container.GetSubscriber("sub1", out sub).Is(true);
container.AddSubscriber(new Subscriber<std_msgs.String>("sub1", "test")).Is(false);
container.HasSubscriber("sub1").Is(true);
container.GetSubscribers().Count.Is(1);
container.GetSubscriber("sub1", out sub).Is(true);
}
public void AddPublisher_AlreadyAdded()
{
var container = new TopicContainer();
IPublisher pub;
container.HasPublisher("pub1").Is(false);
container.GetPublishers().Count.Is(0);
container.AddPublisher(new Publisher<std_msgs.String>("pub1", "test")).Is(true);
container.HasPublisher("pub1").Is(true);
container.GetPublishers().Count.Is(1);
container.GetPublisher("pub1", out pub).Is(true);
container.AddPublisher(new Publisher<std_msgs.String>("pub1", "test")).Is(false);
container.HasPublisher("pub1").Is(true);
container.GetPublishers().Count.Is(1);
container.GetPublisher("pub1", out pub).Is(true);
}
