public void OneLineTest()
{
var scheduler = new TestScheduler();
var observer = scheduler.CreateObserver <int>();
var sub = new OneLineCacheSubject <int>();
sub.OnNext(1);
var d1 = sub.Subscribe(observer);
sub.OnNext(2);
d1.Dispose();
sub.OnNext(3);
sub.OnNext(4);
sub.OnNext(5);
var d2 = sub.Subscribe(observer);
d2.Dispose();
var d3 = sub.Subscribe(observer);
sub.OnNext(6);
observer.Messages.Select(x => x.Value.Value).
Is(new List <int>()
{
1, 2, 3, 4, 5, 6
});
}
public void OneLineTest()
{
var scheduler = new TestScheduler();
var observer = scheduler.CreateObserver<int>();
var sub = new OneLineCacheSubject<int>();
sub.OnNext(1);
var d1 = sub.Subscribe(observer);
sub.OnNext(2);
d1.Dispose();
sub.OnNext(3);
sub.OnNext(4);
sub.OnNext(5);
var d2 = sub.Subscribe(observer);
d2.Dispose();
var d3 = sub.Subscribe(observer);
sub.OnNext(6);
observer.Messages.Select(x => x.Value.Value).
Is(new List<int>() {1, 2, 3, 4, 5, 6});
}
public void LargeData()
{
var observer = new OneLineCacheSubject <std_msgs.ByteMultiArray>();
var node = Ros.InitNodeAsync("test").Result;
var publisher = node.PublisherAsync <std_msgs.ByteMultiArray>("test_topic").Result;
var subscriber = node.SubscriberAsync <std_msgs.ByteMultiArray>("test_topic").Result;
publisher.WaitForConnection(TestTimeout);
subscriber.WaitForConnection(TestTimeout);
subscriber.Subscribe(observer);
publisher.OnNext(new ByteMultiArray()
{
data = Enumerable.Range(0, 5000).Select(x => (byte)(x % 256)).ToList()
});
var data = observer.Timeout(TestTimeout).First();
data.data.Count.Is(5000);
subscriber.Dispose();
publisher.Dispose();
node.Dispose();
}
public void PublishAndSubscribe()
{
var scheduler = new TestScheduler();
var observer = new OneLineCacheSubject <std_msgs.String>();
var obs = scheduler.CreateHotObservable(
OnNext(10, new std_msgs.String()
{
data = "abc"
}),
OnNext(20, new std_msgs.String()
{
data = "defg"
}),
OnNext(30, new std_msgs.String()
{
data = "hijklmn"
})
);
var node = Ros.InitNodeAsync("test").Result;
var publisher = node.PublisherAsync <std_msgs.String>("test_topic").Result;
var subscriber = node.SubscriberAsync <std_msgs.String>("test_topic").Result;
publisher.WaitForConnection(TestTimeout);
subscriber.WaitForConnection(TestTimeout);
subscriber.Subscribe(observer);
obs.Subscribe(publisher);
scheduler.AdvanceBy(10);
observer.Timeout(TestTimeout).First().data.Is("abc");
scheduler.AdvanceBy(10);
observer.Timeout(TestTimeout).First().data.Is("defg");
scheduler.AdvanceBy(10);
observer.Timeout(TestTimeout).First().data.Is("hijklmn");
subscriber.Dispose();
publisher.Dispose();
node.Dispose();
}
public IObservable<byte[]> ReceiveAsync(int offset = 0)
{
if(_oneLineCacheSubject ==null)
{
_oneLineCacheSubject = new OneLineCacheSubject<byte[]>();
_receiveDisposable = _socket.ReceiveAsObservable(_scheduler).Subscribe(_oneLineCacheSubject);
}
return Observable.Create<byte[]>(observer =>
{
var disposable = _oneLineCacheSubject
.Where(x => x != null)
.Scan(new byte[] {}, (abs, bs) =>
{
var rest = AppendData(abs, bs);
//_logger.Debug(m => m("Receive Data Size = {0}", bs.Length));
//_logger.Debug(m => m("Receive Data = {0}", Encoding.ASCII.GetString(bs)));
//_logger.Debug(m => m("Receive Data = {0}", bs.Dump()));
byte[] current;
if (CompleteMessage(offset, out current, ref rest))
{
//_logger.Debug(m => m("OnNext Data = {0}", current.Dump()));
//_logger.Debug(m => m("OnNext Data Size= {0}", current.Length));
observer.OnNext(current);
}
return rest;
})
.Subscribe(_ => { }, observer.OnError, observer.OnCompleted);
return disposable;
});
}
public void MultiplePublisher()
{
var scheduler = new TestScheduler();
var observer = new OneLineCacheSubject <std_msgs.String>();
var obs1 = scheduler.CreateHotObservable(
OnNext(110, new std_msgs.String()
{
data = "abc1"
}),
OnNext(210, new std_msgs.String()
{
data = "defg1"
}),
OnNext(310, new std_msgs.String()
{
data = "hijklmn1"
})
);
var obs2 = scheduler.CreateHotObservable(
OnNext(120, new std_msgs.String()
{
data = "abc2"
}),
OnNext(220, new std_msgs.String()
{
data = "defg2"
}),
OnNext(320, new std_msgs.String()
{
data = "hijklmn2"
})
);
var obs3 = scheduler.CreateHotObservable(
OnNext(130, new std_msgs.String()
{
data = "abc3"
}),
OnNext(230, new std_msgs.String()
{
data = "defg3"
}),
OnNext(330, new std_msgs.String()
{
data = "hijklmn3"
})
);
var node1 = Ros.InitNodeAsync("test1").Result;
var node2 = Ros.InitNodeAsync("test2").Result;
var node3 = Ros.InitNodeAsync("test3").Result;
var publisher1 = node1.PublisherAsync <std_msgs.String>("test_topic").Result;
var publisher2 = node2.PublisherAsync <std_msgs.String>("test_topic").Result;
var subscriber = node1.SubscriberAsync <std_msgs.String>("test_topic").Result;
var publisher3 = node3.PublisherAsync <std_msgs.String>("test_topic").Result;
publisher1.WaitForConnection(TestTimeout);
publisher2.WaitForConnection(TestTimeout);
publisher3.WaitForConnection(TestTimeout);
subscriber.WaitForConnection(TestTimeout);
subscriber.Subscribe(observer);
obs1.Subscribe(publisher1);
obs2.Subscribe(publisher2);
obs3.Subscribe(publisher3);
scheduler.AdvanceTo(110);
observer.Timeout(TestTimeout).First().data.Is("abc1");
scheduler.AdvanceTo(120);
observer.Timeout(TestTimeout).First().data.Is("abc2");
scheduler.AdvanceTo(130);
observer.Timeout(TestTimeout).First().data.Is("abc3");
scheduler.AdvanceTo(210);
observer.Timeout(TestTimeout).First().data.Is("defg1");
scheduler.AdvanceTo(220);
observer.Timeout(TestTimeout).First().data.Is("defg2");
scheduler.AdvanceTo(230);
observer.Timeout(TestTimeout).First().data.Is("defg3");
scheduler.AdvanceTo(310);
observer.Timeout(TestTimeout).First().data.Is("hijklmn1");
scheduler.AdvanceTo(320);
observer.Timeout(TestTimeout).First().data.Is("hijklmn2");
scheduler.AdvanceTo(330);
observer.Timeout(TestTimeout).First().data.Is("hijklmn3");
subscriber.Dispose();
publisher1.Dispose();
publisher2.Dispose();
publisher3.Dispose();
node1.Dispose();
node2.Dispose();
node3.Dispose();
}
public void MultipleSubscriber()
{
var scheduler = new TestScheduler();
var observer1 = new OneLineCacheSubject <std_msgs.String>();
var observer2 = new OneLineCacheSubject <std_msgs.String>();
var observer3 = new OneLineCacheSubject <std_msgs.String>();
var obs = scheduler.CreateHotObservable(
OnNext(10, new std_msgs.String()
{
data = "abc"
}),
OnNext(20, new std_msgs.String()
{
data = "defg"
}),
OnNext(30, new std_msgs.String()
{
data = "hijklmn"
})
);
var node1 = Ros.InitNodeAsync("test1").Result;
var node2 = Ros.InitNodeAsync("test2").Result;
var node3 = Ros.InitNodeAsync("test3").Result;
var subscriber1 = node1.SubscriberAsync <std_msgs.String>("test_topic").Result;
var subscriber2 = node2.SubscriberAsync <std_msgs.String>("test_topic").Result;
var publisher = node1.PublisherAsync <std_msgs.String>("test_topic").Result;
var subscriber3 = node3.SubscriberAsync <std_msgs.String>("test_topic").Result;
publisher.WaitForConnection(TestTimeout);
subscriber1.WaitForConnection(TestTimeout);
subscriber2.WaitForConnection(TestTimeout);
subscriber3.WaitForConnection(TestTimeout);
subscriber1.Subscribe(observer1);
subscriber2.Subscribe(observer2);
subscriber3.Subscribe(observer3);
obs.Subscribe(publisher);
scheduler.AdvanceBy(10);
observer1.Timeout(TestTimeout).First().data.Is("abc");
observer2.Timeout(TestTimeout).First().data.Is("abc");
observer3.Timeout(TestTimeout).First().data.Is("abc");
observer1.Dispose();
scheduler.AdvanceBy(10);
AssertEx.Throws <TimeoutException>(() => observer1.Timeout(TestTimeout).First());
observer2.Timeout(TestTimeout).First().data.Is("defg");
observer3.Timeout(TestTimeout).First().data.Is("defg");
observer2.Dispose();
scheduler.AdvanceBy(10);
AssertEx.Throws <TimeoutException>(() => observer1.Timeout(TestTimeout).First());
AssertEx.Throws <TimeoutException>(() => observer2.Timeout(TestTimeout).First());
observer3.Timeout(TestTimeout).First().data.Is("hijklmn");
subscriber1.Dispose();
subscriber2.Dispose();
subscriber3.Dispose();
publisher.Dispose();
node1.Dispose();
node2.Dispose();
node3.Dispose();
}