public void AdvertiseAsync_MessageDispatcherSendAsyncShouldCalledWithAppropriateObject()
{
//arrange
string testTopic = "testTopic";
string testType = "testType";
string uniqueId = Guid.NewGuid().ToString();
Task resultTask = Task.Run(() => { });
_messageDispatcherMock.Setup(dispatcher => dispatcher.GetNewUniqueID()).Returns(uniqueId);
_rosMessageAttributeHelper.Setup(helper => helper.GetRosMessageTypeFromTypeAttribute(typeof(object)))
.Returns(testType);
_messageDispatcherMock.Setup(dispatcher => dispatcher.SendAsync(It.IsAny <RosAdvertiseMessage>())).Returns(resultTask);
Publisher <object> testClass = new Publisher <object>(testTopic, _messageDispatcherMock.Object, _rosMessageAttributeHelper.Object);
//act
Task result = testClass.AdvertiseAsync();
//assert
result.Should().NotBeNull();
result.Should().Be(resultTask);
_messageDispatcherMock.Verify(dispatcher => dispatcher.SendAsync(It.Is <RosAdvertiseMessage>(message =>
message.Id == uniqueId &&
message.Topic == testTopic &&
message.Type == testType)), Times.Once);
}
public async Task AdvertiseAsync_MessageDispatcherStarted_WebSocketShouldSendCorrectByteArray()
{
//arrange
RosAdvertiseMessage rosAdvertiseMessage = new RosAdvertiseMessage()
{
Id = _publisher._uniqueId,
Topic = TOPIC,
Type = TYPE
};
byte[] serialized = _messageSerializer.Serialize(rosAdvertiseMessage);
_clientWebSocketMock.SetupGet(clientWebSocket => clientWebSocket.State).Returns(WebSocketState.Open);
await _messageDispatcher.StartAsync();
//act
await _publisher.AdvertiseAsync();
//assert
_clientWebSocketMock.Verify(clientWebSocket => clientWebSocket.SendAsync(
It.Is <ArraySegment <byte> >(arraySegment => arraySegment.Array.SequenceEqual(serialized)),
WebSocketMessageType.Text,
true,
_cancellationTokenSource.Token));
}
public async Task landing()
{
if (md != null)
{
Publisher publisher = new Publisher("/bebop/land", "std_msgs/Empty", md);
await publisher.AdvertiseAsync();
var msg = JObject.Parse("{}");
await publisher.PublishAsync(msg);
//await publisher.UnadvertiseAsync();
publisher = null;
}
}
public async Task ConnectAsync(Uri uri)
{
dispatcher = new MessageDispatcher(new Socket(uri), new MessageSerializerV2_0());
await dispatcher.StartAsync();
publisher_transition_goal =
new Publisher("transition_controller/goal", "robot_controllers/TransitionActionGoal", dispatcher);
await publisher_transition_goal.AdvertiseAsync();
publisher_transition_cancel =
new Publisher("transition_controller/cancel", "actionlib_msgs/GoalID", dispatcher);
await publisher_transition_cancel.AdvertiseAsync();
subscriber_transition_feedback =
new Subscriber("transition_controller/feedback/", "robot_controllers/TransitionActionFeedback", dispatcher);
subscriber_transition_feedback.MessageReceived += subscriber_transition_feedback_MessageReceived;
await subscriber_transition_feedback.SubscribeAsync();
}
public async Task navigate(Twist twist)
{
if (md != null)
{
if (navigatePub == null)
{
navigatePub = new Publisher("/bebop/cmd_vel", "geometry_msgs/Twist", md);
await navigatePub.AdvertiseAsync();
}
//Publisher publisher = new Publisher("/bebop/cmd_vel", "geometry_msgs/Twist", md);
//await publisher.AdvertiseAsync();
await navigatePub.PublishAsync(twist);
//await navigatePub.UnadvertiseAsync();
//publisher = null;
}
}
private async void sendROSCommand(string action)
{
// compute angle relative to target.
double width = (double)cWidth;
double height = (double)cHeight;
double faceWidth = (double)faceW;
double faceHeight = (double)faceH;
double azimuth = (hfov / 2) * (faceX + faceWidth / 2 - width / 2) / (width / 2);
double elevation = -(vfov / 2) * (faceY + faceHeight / 2 - height / 2) / (height / 2);
Console.WriteLine("Azimuth: " + azimuth);
Console.WriteLine("Elevation: " + elevation);
await publisher.AdvertiseAsync();
await publisher.PublishAsync(new { x = azimuth, y = elevation, z = 3.2 });
Console.Write(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> sent message");
}
private async void ConfigureROSBridge()
{
// for Rosbridge
// Start the message dispatcher
md = new MessageDispatcher(new Rosbridge.Client.Socket(new Uri("ws://10.183.126.141:9090")), new MessageSerializerV2_0());
await md.StartAsync();
// Publish to a topic
publisher = new Publisher("/balloonPosition", "geometry_msgs/Point32", md);
await publisher.AdvertiseAsync();
await publisher.PublishAsync(new { x = 2.2, y = 5.5, z = 3.2 });
Console.Write(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> sent message");
// Clean-up
//await subscriber.UnsubscribeAsync();
//await publisher.UnadvertiseAsync();
//await md.StopAsync();
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
TopicLabel.Content = "Publish to \"" + _publisher.Topic.Replace("_", "__") + "\" (" + _publisher.Type.Replace("_", "__") + ")";
await _publisher.AdvertiseAsync();
}
