public void CanWriteAndReadRosTime()
{
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
var writtenTime = new DateTime(2021, 03, 15, 18, 55, 12, 7, DateTimeKind.Unspecified)
.ToRosTime();
// Writing should convert to UTC.
writer.WriteBuiltInType(typeof(RosTime), writtenTime);
// Read back what we wrote.
s.Position = 0;
var readTime = (RosTime)reader.ReadRosTime();
// Expected behaviour is that time in ROS-Messages is UTC.
// Max difference is 0.001 since only milliseconds are preserved and ROS uses nanoseconds.
readTime.Seconds.Should().Be(writtenTime.Seconds);
readTime.Nanoseconds.Should().Be(writtenTime.Nanoseconds);
readTime.DateTime.Kind.Should().Be(DateTimeKind.Utc);
readTime.DateTime.Should().BeCloseTo(writtenTime.DateTime, TimeSpan.FromSeconds(0.001));
}
}
private static object DeserializeActionResult(SerializationContext context, RosBinaryReader reader, IRosMessageTypeInfo messageTypeInfo, RosMessageSerializer serializer)
{
var header = Deserialize <Header>(context, reader);
var goalStatus = Deserialize <GoalStatus>(context, reader);
var partialMessageDeserializer = PartialMessageDeserializer.CreateFromStream(context.Stream, serializer);
return(new ActionResult(header, goalStatus, partialMessageDeserializer));
}
public void CanWriteAndReadString()
{
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
writer.Write("xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxASDF");
s.Position = 0;
reader.ReadString().Should().Be("xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxASDF");
}
}
private static T Deserialize <T>(SerializationContext context, RosBinaryReader reader)
{
var typeInfo = context.MessageTypeRegistry.GetOrCreateMessageTypeInfo(typeof(T));
var formatter = context.MessageFormatters.FindFormatterFor(typeInfo);
if (formatter == null)
{
throw new NotSupportedException($"No formatter for message {typeInfo} found.");
}
var header = formatter.Deserialize(context, reader, typeInfo);
return((T)header);
}
public void CanWriteAndReadTimeSpan()
{
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
var writtenTimeSpan = TimeSpan.FromSeconds(123456789.123);
writer.WriteBuiltInType(typeof(TimeSpan), writtenTimeSpan);
s.Position = 0;
var readTime = (TimeSpan)reader.ReadBuiltInType(typeof(TimeSpan));
Assert.Equal(writtenTimeSpan, readTime);
}
}
public void CanWriteAndReadInt()
{
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
writer.Write((int)4);
writer.Write((int)5);
writer.Write((int)6);
s.Position = 0;
reader.ReadInt32().Should().Be(4);
reader.ReadInt32().Should().Be(5);
reader.ReadInt32().Should().Be(6);
}
}
public void CanWriteAndReadDateTime()
{
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
var writtenTime = DateTime.Now;
// Writing should convert to UTC.
writer.WriteBuiltInType(typeof(DateTime), writtenTime);
// Read back what we wrote.
s.Position = 0;
var readTime = (DateTime)reader.ReadBuiltInType(typeof(DateTime));
// Expected behaviour is that time in ROS-Messages is UTC.
// Max difference is 0.001 since only milliseconds are preserved and ROS uses nanoseconds.
Assert.Equal(writtenTime.ToUniversalTime(), readTime, TimeSpan.FromSeconds(0.001));
}
}
public void CanWriteAndReadBuiltInTypes2(string rosType, object writeValue, object expectedValue)
{
var primitiveRosType = RosType.Parse(rosType);
primitiveRosType.IsBuiltIn.Should().BeTrue();
primitiveRosType.IsArray.Should().BeFalse();
using (var s = new MemoryStream())
{
var writer = new RosBinaryWriter(s);
var reader = new RosBinaryReader(s);
writer.WriteBuiltInType(primitiveRosType, writeValue);
s.Position = 0;
var readValue = reader.ReadBuiltInType(primitiveRosType, expectedValue.GetType());
readValue.Should().BeEquivalentTo(expectedValue);
readValue.GetType().Should().Be(expectedValue.GetType());
}
}
private static ActionGoal DeserializeActionGoal(SerializationContext context, RosBinaryReader reader, IRosMessageTypeInfo messageTypeInfo, RosMessageSerializer serializer)
{
var header = Deserialize <Header>(context, reader);
var goalId = Deserialize <GoalID>(context, reader);
var partialMessageDeserializer = PartialMessageDeserializer.CreateFromStream(context.Stream, serializer);
return(new ActionGoal(header, goalId, partialMessageDeserializer));
}
public object Deserialize(SerializationContext context, RosBinaryReader reader, IRosMessageTypeInfo messageTypeInfo)
{
var deserializer = Deserializers[messageTypeInfo.Type];
return(deserializer(context, reader, messageTypeInfo, Serializer));
}
