public void Initialize()
{
Ros.MasterUri = new Uri("http://localhost:11311/");
Ros.HostName = "localhost";
Ros.TopicTimeout = 1000;
Ros.XmlRpcTimeout = 1000;
_masterServer = new MasterServer(11311);
_masterClient = new MasterClient(_masterServer.MasterUri);
_parameterServerClient = new ParameterServerClient(_masterServer.MasterUri);
}
public void GetSystemState_ParameterError()
{
var result = new object[3]
{
-1,
"caller_id must be a string",
new object[3] {new object[0], new object[0], new object[0]}
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MMasterProxy.AllInstances.BeginGetSystemStateStringAsyncCallbackObject = (t1, t2, t3, t4) => { t3(null); return null; };
MMasterProxy.AllInstances.EndGetSystemStateIAsyncResult = (t1, t2) => result;
var client = new MasterClient(new Uri("http://localhost"));
var ex = AssertEx.Throws<AggregateException>(() => client.GetSystemStateAsync(null).Wait());
ex.InnerException.Message.Is("caller_id must be a string");
}
public void UnregisterService_Success()
{
var result = new object[3]
{
1,
"Unregistered [/test] as provider of [/myservice]",
1
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MMasterProxy.AllInstances.BeginUnregisterServiceStringStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5, t6) => { t5(null); return null; };
MMasterProxy.AllInstances.EndUnregisterServiceIAsyncResult = (t1, t2) => result;
var client = new MasterClient(new Uri("http://localhost"));
client.UnregisterServiceAsync("/test", "/myservice", new Uri("http://localhost")).Result.Is(1);
}
public void GetSystemState_Success()
{
var result = new object[3]
{
1,
"current system state",
new object[3][][]{
new object[3][]{
new object[2]{
"/chatter",
new string[1]{
"/rosjava_tutorial_pubsub/talker"
}
},
new object[2]{
"/rosout",
new string[2]{
"/rosjava_tutorial_pubsub/listener",
"/rosjava_tutorial_pubsub/talker"
}
},
new object[2]{
"/rosout_agg",
new string[1]{
"/rosout"
}
}
},
new object[2][]{
new object[2]{
"/chatter",
new string[1]{
"/rosjava_tutorial_pubsub/listener"
}
},
new object[2]{
"/rosout",
new string[1]{
"/rosout"
}
}
},
new object[2][]{
new object[2]{
"/rosout/set_logger_level",
new string[1]{
"/rosout"
}
},
new object[2]{
"/rosout/get_loggers",
new string[1]{
"/rosout"
}
}
}
}
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MMasterProxy.AllInstances.BeginGetSystemStateStringAsyncCallbackObject = (t1, t2, t3, t4) => { t3(null); return null; };
MMasterProxy.AllInstances.EndGetSystemStateIAsyncResult = (t1, t2) => result;
var client = new MasterClient(new Uri("http://localhost"));
var ret = client.GetSystemStateAsync("/test").Result;
ret.Publishers.Count.Is(3);
ret.Subscribers.Count.Is(2);
ret.Services.Count.Is(2);
}
public void UnregisterService_ParameterError()
{
var result = new object[3]
{
-1,
"ERROR: parameter [service] must be a non-empty string",
0
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MMasterProxy.AllInstances.BeginUnregisterServiceStringStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5, t6) => { t5(null); return null; };
MMasterProxy.AllInstances.EndUnregisterServiceIAsyncResult = (t1, t2) => result;
var client = new MasterClient(new Uri("http://localhost"));
var ex = AssertEx.Throws<AggregateException>(() => client.UnregisterServiceAsync("/test", "/myservice", new Uri("http://localhost")).Wait());
ex.InnerException.Message.Is("ERROR: parameter [service] must be a non-empty string");
}
public void RegisterSubscriber_Success()
{
var result = new object[3]
{
1,
"Subscribed to [/topic1]",
new object[0]
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MMasterProxy.AllInstances.BeginRegisterSubscriberStringStringStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5, t6, t7) => { t6(null); return null; };
MMasterProxy.AllInstances.EndRegisterSubscriberIAsyncResult = (t1, t2) => result;
var client = new MasterClient(new Uri("http://localhost"));
client.RegisterSubscriberAsync("/test", "topic1", "std_msgs/String", new Uri("http://192.168.11.2:11112")).Wait();
}
public void RegisterSubscriber_ParameterError()
{
var result = new object[3]
{
-1,
"ERROR: parameter [topic_type] is not a valid package resource name",
0
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MMasterProxy.AllInstances.BeginRegisterSubscriberStringStringStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5, t6, t7) => { t6(null); return null; };
MMasterProxy.AllInstances.EndRegisterSubscriberIAsyncResult= (t1, t2) => result;
var client = new MasterClient(new Uri("http://localhost"));
var ex = AssertEx.Throws<AggregateException>(() => client.RegisterSubscriberAsync("/test", "topic1", "topicType", new Uri("http://192.168.11.2:11112")).Wait());
ex.InnerException.Message.Is("ERROR: parameter [topic_type] is not a valid package resource name");
}
public void RegisterService_Success()
{
var result = new object[3]
{
StatusCode.Success,
"Registered [/test] as provider of [/myservice]",
1
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MMasterProxy.AllInstances.BeginRegisterServiceStringStringStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5, t6, t7) => { t6(null); return null; };
MMasterProxy.AllInstances.EndRegisterServiceIAsyncResult= (t1, t2) => result;
var client = new MasterClient(new Uri("http://localhost"));
client.RegisterServiceAsync("/test", "/myservice", new Uri("http://192.168.11.2:11112"), new Uri("http://192.168.11.2:11111")).Wait();
}
public void LookupService_Success()
{
var result = new object[3]
{
1,
"rosrpc URI: [rosrpc://192.168.11.5:37171]",
"rosrpc://192.168.11.5:37171"
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MMasterProxy.AllInstances.BeginLookupServiceStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5) => { t4(null); return null; };
MMasterProxy.AllInstances.EndLookupServiceIAsyncResult = (t1, t2) => result;
var client = new MasterClient(new Uri("http://localhost"));
client.LookupServiceAsync("/test", "/service_test").Result.Is(new Uri("rosrpc://192.168.11.5:37171"));
}
public void LookupService_NoProvider()
{
var result = new object[3]
{
-1,
"no provider",
""
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MMasterProxy.AllInstances.BeginLookupServiceStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5) => { t4(null); return null; };
MMasterProxy.AllInstances.EndLookupServiceIAsyncResult = (t1, t2) => result;
var client = new MasterClient(new Uri("http://localhost"));
var ex = AssertEx.Throws<AggregateException>(() => client.LookupServiceAsync("/test", "/service_test").Wait());
ex.InnerException.Message.Is("no provider");
}
public void LookupNode_Success()
{
var result = new object[3]
{
1,
"node api",
"http://192.168.11.4:59511/"
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MMasterProxy.AllInstances.BeginLookupNodeStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5) => { t4(null); return null; };
MMasterProxy.AllInstances.EndLookupNodeIAsyncResult = (t1, t2) => result;
var client = new MasterClient(new Uri("http://localhost"));
client.LookupNodeAsync("/test", "/rosout").Result.Is(new Uri("http://192.168.11.4:59511/"));
}
public void GetUri_Success()
{
var result = new object[3]
{
1,
"",
"http://192.168.11.4:11311/"
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MMasterProxy.AllInstances.BeginGetUriStringAsyncCallbackObject = (t1, t2, t3, t4) => { t3(null); return null; };
MMasterProxy.AllInstances.EndGetUriIAsyncResult= (t1, t2) => result;
var client = new MasterClient(new Uri("http://localhost"));
client.GetUriAsync("/test").Result.Is(new Uri("http://192.168.11.4:11311/"));
}
