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); }
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); }