public void TestPublishString()
{
RCLdotnet.Init();
INode node_string_1 = RCLdotnet.CreateNode("test_string_1");
INode node_string_2 = RCLdotnet.CreateNode("test_string_2");
IPublisher <std_msgs.msg.String> chatter_pub = node_string_1.CreatePublisher <std_msgs.msg.String> ("topic_string");
std_msgs.msg.String msg = new std_msgs.msg.String();
std_msgs.msg.String msg2 = new std_msgs.msg.String();
msg.Data = "Hello";
bool received = false;
ISubscription <std_msgs.msg.String> chatter_sub = node_string_2.CreateSubscription <std_msgs.msg.String> (
"topic_string", rcv_msg =>
{
received = true;
msg2 = rcv_msg;
}
);
while (!received)
{
chatter_pub.Publish(msg);
RCLdotnet.SpinOnce(node_string_1, 500);
RCLdotnet.SpinOnce(node_string_2, 500);
}
Assert.Equal("Hello", msg2.Data);
}
public static void Main(string[] args)
{
Context ctx = new Context();
Rclcs.Init(ctx);
INode node = Rclcs.CreateNode("talker", ctx);
IPublisher <std_msgs.msg.String> chatter_pub = node.CreatePublisher <std_msgs.msg.String>("chatter");
std_msgs.msg.String msg = new std_msgs.msg.String();
int i = 1;
while (Rclcs.Ok(ctx))
{
// adamdbrw - if no at least small sleep is made before
// the first published message, it doesn't reach subscribers
// Needs investigation for how to put a valid check here
// TODO (adam) replace with a proper check
Thread.Sleep(500);
msg.Data = "Hello World: " + i;
i++;
Console.WriteLine("Publishing: \"" + msg.Data + "\"");
chatter_pub.Publish(msg);
Thread.Sleep(500);
}
Rclcs.Shutdown(ctx);
}
public void SetStringData()
{
std_msgs.msg.String msg = new std_msgs.msg.String();
Assert.That(msg.Data, Is.EqualTo(""));
msg.Data = "Show me what you got!";
Assert.That(msg.Data, Is.EqualTo("Show me what you got!"));
}
public static int getCdrSerializedSize(std_msgs.msg.String data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4) + data.data.Length + 1;
return(current_alignment - initial_alignment);
}
public override void deserialize(MemoryStream stream, std_msgs.msg.String data)
{
using (BinaryReader reader = new BinaryReader(stream))
{
Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader);
read(data, cdr);
}
}
public override void serialize(std_msgs.msg.String data, MemoryStream stream)
{
using (BinaryWriter writer = new BinaryWriter(stream))
{
Halodi.CDR.CDRSerializer cdr = new Halodi.CDR.CDRSerializer(writer);
write(data, cdr);
}
}
public static void Main(string[] args)
{
RCLdotnet.Init();
INode node = RCLdotnet.CreateNode("talker");
IPublisher <std_msgs.msg.String> chatter_pub = node.CreatePublisher <std_msgs.msg.String> ("chatter");
std_msgs.msg.String msg = new std_msgs.msg.String();
int i = 1;
while (RCLdotnet.Ok())
{
msg.Data = "Hello World: " + i;
i++;
Console.WriteLine("Publishing: \"" + msg.Data + "\"");
chatter_pub.Publish(msg);
// Sleep a little bit between each message
Thread.Sleep(1000);
}
}
public static void Copy(std_msgs.msg.String src, std_msgs.msg.String target)
{
target.Set(src);
}
public static void read(std_msgs.msg.String data, Halodi.CDR.CDRDeserializer cdr)
{
data.data = cdr.read_type_d();
}
public static void write(std_msgs.msg.String data, Halodi.CDR.CDRSerializer cdr)
{
cdr.write_type_d(data.data);
}
public static int getCdrSerializedSize(std_msgs.msg.String data)
{
return(getCdrSerializedSize(data, 0));
}
