public void Array_is_striped_from_type_name(string rosType, string expectedPackageName, string expectedTypeName)
{
var type = RosType.Parse(rosType);
type.Should().NotBeNull();
type.IsArray.Should().BeTrue();
type.PackageName.Should().Be(expectedPackageName);
type.TypeName.Should().Be(expectedTypeName);
}
public void Tostring_returns_array_type_with_specifier(string rosType, string rosTypeWithoutArray)
{
var type = RosType.Parse(rosType);
type.Should().NotBeNull();
type.ToString().Should().Be(rosType);
type.ToString("F").Should().Be(rosType);
type.ToString("T").Should().Be(rosTypeWithoutArray);
}
public void Can_parse_arrays(string rosType, bool isFixedSizeArray, int arraySize)
{
var type = RosType.Parse(rosType);
type.Should().NotBeNull();
type.IsArray.Should().BeTrue();
type.IsFixedSizeArray.Should().Be(isFixedSizeArray);
type.IsDynamicArray.Should().Be(!isFixedSizeArray);
type.ArraySize.Should().Be(arraySize);
type.ToString().Should().Be(rosType);
}
public void Can_parse_built_in_types(string rosType)
{
var type = RosType.Parse(rosType);
type.Should().NotBeNull();
type.ToString().Should().Be(rosType);
type.TypeName.Should().Be(rosType.TrimEnd('[', ']'));
type.PackageName.Should().BeNull();
type.IsBuiltIn.Should().BeTrue();
type.IsFullQualified.Should().BeTrue();
}
public void Header_can_be_defined_in_other_package_as_well()
{
var type = RosType.Parse("my_msgs/Header");
type.Should().NotBeNull();
type.IsHeaderType.Should().BeFalse();
type.PackageName.Should().Be("my_msgs");
type.TypeName.Should().Be("Header");
type.ToString().Should().Be("my_msgs/Header");
type.ToString("F").Should().Be("my_msgs/Header");
type.ToString("T").Should().Be("my_msgs/Header");
type.IsBuiltIn.Should().BeFalse();
}
public void Can_parse_header(string headerType)
{
const string HeaderTypeName = "std_msgs/Header";
var type = RosType.Parse(headerType);
type.Should().NotBeNull();
type.IsHeaderType.Should().BeTrue();
type.PackageName.Should().Be("std_msgs");
type.TypeName.Should().Be("Header");
type.ToString().Should().Be(HeaderTypeName);
type.ToString("F").Should().Be(HeaderTypeName);
type.ToString("T").Should().Be(HeaderTypeName);
type.IsBuiltIn.Should().BeFalse();
type.IsArray.Should().BeFalse();
}
void Can_parse_not_packaged_type_name()
{
const string TypeName = "FooMsg";
var type = RosType.Parse(TypeName);
type.Should().NotBeNull();
type.IsArray.Should().BeFalse();
type.IsFixedSizeArray.Should().BeFalse();
type.IsDynamicArray.Should().BeFalse();
type.ArraySize.Should().Be(0);
type.PackageName.Should().BeNull();
type.TypeName.Should().Be("FooMsg");
type.IsBuiltIn.Should().BeFalse();
type.IsFullQualified.Should().BeFalse();
type.IsHeaderType.Should().BeFalse();
type.ToString().Should().Be(TypeName);
type.ToString("T").Should().Be(TypeName);
type.ToString("F").Should().Be(TypeName);
}
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());
}
}
public void Invalid_name_thrpws_exception(string name)
{
Action parse = () => RosType.Parse(name);
parse.Should().Throw <FormatException>();
}
private IntegrosActionTypeInfo(Type type)
{
Type = type;
RosType = RosType.Parse("integros_msgs/" + type.Name);
}