public async Task TestChannelsAsync()
{
const string topicName = "/my_test_topic_xyz";
await using var client = await RosClient.CreateAsync(MasterUri, CallerId, CallerUri);
await using var publisher = await RosChannelWriterUtils.CreateWriterAsync <String>(client, topicName);
publisher.LatchingEnabled = true;
var systemState = await client.GetSystemStateAsync();
Assert.True(
systemState.Publishers.Any(tuple => tuple.Topic == topicName && tuple.Members.Contains(CallerId)));
const string msgText = "test message";
publisher.Write(new String(msgText));
await using var subscriber = await RosChannelReaderUtils.CreateReaderAsync <String>(client, topicName);
using var source = new CancellationTokenSource(5000);
await foreach (var msg in subscriber.ReadAllAsync(source.Token))
{
if (msg.Data == msgText)
{
break;
}
}
}
public async Task TestGenericChannelReaderAsync()
{
const string topicName = "/my_test_topic_xyz_a";
await using var client = await RosClient.CreateAsync(MasterUri, CallerId, CallerUri);
await using var publisher = await RosChannelWriterUtils.CreateWriterAsync <String>(client, topicName);
publisher.LatchingEnabled = true;
var systemState = await client.GetSystemStateAsync();
Assert.True(
systemState.Publishers.Any(tuple => tuple.Topic == topicName && tuple.Members.Contains(CallerId)));
const string msgText = "test message";
publisher.Write(new String(msgText));
// reader has no message type, it will use whatever the publisher sends during handshake
await using var subscriber = await client.CreateReaderAsync(topicName);
using var source = new CancellationTokenSource(5000);
await foreach (var msg in subscriber.ReadAllAsync(source.Token))
{
if (msg is String {
Data: msgText
})
