public void init(string service, ServiceFunction <MReq, MRes> callback)
{
this.service = service;
srv_func = callback;
helper = new ServiceCallbackHelper <MReq, MRes>(callback);
req_datatype = new MReq().msgtype.ToString().Replace("__", "/").Replace("/Request", "__Request");
res_datatype = new MRes().msgtype.ToString().Replace("__", "/").Replace("/Response", "__Response");
srvtype = (SrvTypes)Enum.Parse(typeof(SrvTypes), req_datatype.Replace("__Request", "").Replace("/", "__"));
datatype = srvtype.ToString().Replace("__", "/");
md5sum = IRosService.generate(srvtype).MD5Sum;
}
public void TestMethod1()
{
//test all generated msg md5s vs. dump of known ones on kinetic
List <MsgTypes> msg_failures = new List <MsgTypes>();
foreach (MsgTypes m in Enum.GetValues(typeof(MsgTypes)))
{
if (m == MsgTypes.Unknown)
{
continue;
}
IRosMessage msg = IRosMessage.generate(m);
string type = msg.GetType().FullName.Replace("Messages.", "").Replace(".", "/");
if (!msgSums.ContainsKey(type))
{
continue;
}
string desiredSum = msgSums[type];
string actualSum = msg.MD5Sum();
bool eq = String.Equals(desiredSum, actualSum);
Debug.WriteLine("{0}\t{1}", type, eq?"OK":"FAIL");
if (!eq)
{
msg_failures.Add(m);
}
}
Assert.IsFalse(msg_failures.Any());
//test all generated srv md5s vs. dump of known ones on kinetic
List <SrvTypes> srv_failures = new List <SrvTypes>();
foreach (SrvTypes m in Enum.GetValues(typeof(SrvTypes)))
{
if (m == SrvTypes.Unknown)
{
continue;
}
IRosService srv = IRosService.generate(m);
string type = srv.GetType().FullName.Replace("Messages.", "").Replace(".", "/");
if (!srvSums.ContainsKey(type))
{
continue;
}
string desiredSum = srvSums[type];
string actualSum = srv.MD5Sum();
bool eq = String.Equals(desiredSum, actualSum);
Debug.WriteLine("{0}\t{1}", type, eq ? "OK" : "FAIL");
if (!eq)
{
srv_failures.Add(m);
}
}
Assert.IsFalse(srv_failures.Any());
}
internal void initialize(Connection connection)
{
this.connection = connection;
connection.DroppedEvent += onConnectionDropped;
connection.setHeaderReceivedCallback(onHeaderReceived);
IDictionary dict = new Hashtable();
dict["service"] = name;
dict["md5sum"] = IRosService.generate((SrvTypes)Enum.Parse(typeof(SrvTypes), RequestType.ToString().Replace("__Request", "").Replace("__Response", ""))).MD5Sum();
dict["callerid"] = this_node.Name;
dict["persistent"] = persistent ? "1" : "0";
if (header_values != null)
{
foreach (object o in header_values.Keys)
{
dict[o] = header_values[o];
}
}
connection.writeHeader(dict, onHeaderWritten);
}
public bool call(IRosService srv)
{
return(call(srv.RequestMessage, ref srv.ResponseMessage));
}
