void IMessagePool.AddMessage(Message message)
{
if (!(message is T))
{
throw new System.ArgumentException($"MessagePool<{MessageRegistry.GetRosMessageName<T>()}> can't store a \"{message.RosMessageName}\" message.");
}
AddMessage((T)message);
}
public void RegisterAndGet_OneMessage_ReturnsMessageNameAndDeserialize()
{
const string rosMessageName = "testmessage";
Func <MessageDeserializer, TestMessage> deserializer = des => new TestMessage();
MessageRegistry.Register(rosMessageName, deserializer);
Assert.AreEqual(rosMessageName, MessageRegistry.GetRosMessageName <TestMessage>());
Assert.AreEqual(deserializer, MessageRegistry.GetDeserializeFunction <TestMessage>());
Assert.AreEqual(deserializer, MessageRegistry.GetDeserializeFunction(rosMessageName));
}
public void RegisterAndGet_Subtopics_ReturnCorrectDeserializers()
{
const string rosMessageName = "testmessage";
Func <MessageDeserializer, TestMessage> deserializer = des => new TestMessage();
Func <MessageDeserializer, TestResponse> deserializer2 = des => new TestResponse();
MessageRegistry.Register(rosMessageName, deserializer, MessageSubtopic.Default);
MessageRegistry.Register(rosMessageName, deserializer2, MessageSubtopic.Response);
Assert.AreEqual(rosMessageName, MessageRegistry.GetRosMessageName <TestMessage>());
Assert.AreEqual(rosMessageName, MessageRegistry.GetRosMessageName <TestResponse>());
Assert.AreEqual(MessageSubtopic.Default, MessageRegistry.GetSubtopic <TestMessage>());
Assert.AreEqual(MessageSubtopic.Response, MessageRegistry.GetSubtopic <TestResponse>());
Assert.AreEqual(deserializer, MessageRegistry.GetDeserializeFunction <TestMessage>());
Assert.AreEqual(deserializer, MessageRegistry.GetDeserializeFunction(rosMessageName, MessageSubtopic.Default));
Assert.AreEqual(deserializer2, MessageRegistry.GetDeserializeFunction <TestResponse>());
Assert.AreEqual(deserializer2, MessageRegistry.GetDeserializeFunction(rosMessageName, MessageSubtopic.Response));
Assert.IsNull(MessageRegistry.GetDeserializeFunction(rosMessageName, MessageSubtopic.Goal));
}
public static void RegisterTypeVisualizer <MsgType>(IVisualFactory visualFactory, int priority = 0) where MsgType : Message
{
RegisterTypeVisualizer(MessageRegistry.GetRosMessageName <MsgType>(), visualFactory, priority, MessageRegistry.GetSubtopic <MsgType>());
}