public void DeserializeRandomizedMessagesAndCompareRecursivelyToOriginals()
{
// randomize messages of all known types, and serialize one of each of them
var messageTypes = MessageTypeRegistry.Default.GetTypeNames().ToList();
foreach (var messageType in messageTypes)
{
var original = RosMessage.Generate(messageType);
Assert.NotNull(original);
original.Randomize();
byte[] originalSerialized = null;
try
{
originalSerialized = original.Serialize();
}
catch (Exception e)
{
int a = 1;
}
Assert.NotNull(originalSerialized);
RosMessage msg = RosMessage.Generate(messageType);
Assert.NotNull(msg);
try
{
msg.Deserialize(originalSerialized);
}
catch (Exception e)
{
int a = 1;
}
Assert.Equal(original, msg);
}
}
public void CheckMsgMD5()
{
var msgSums = msgSumsLazy.Value;
var typeRegistry = MessageTypeRegistry.Default.TypeRegistry;
foreach (var key in msgSums.Keys.Where(typeRegistry.ContainsKey))
{
var msg = RosMessage.Generate(key);
string desiredSum = msgSums[key];
string actualSum = msg.MD5Sum();
Assert.Equal(desiredSum, actualSum);
}
}
private static string PrepareToHash(MsgFile msgFile)
{
string hashText = msgFile.Definition.Trim('\n', '\t', '\r', ' ');
while (hashText.Contains(" "))
{
hashText = hashText.Replace(" ", " ");
}
while (hashText.Contains("\r\n"))
{
hashText = hashText.Replace("\r\n", "\n");
}
hashText = hashText.Trim();
string[] lines = hashText.Split('\n');
var haves = new Queue <string>();
var havenots = new Queue <string>();
for (int i = 0; i < lines.Length; i++)
{
string l = lines[i];
if (l.Contains("="))
{
// condense spaces on either side of =
string[] ls = l.Split('=');
haves.Enqueue(ls[0].Trim() + "=" + ls[1].Trim());
}
else
{
havenots.Enqueue(l.Trim());
}
}
hashText = "";
while (haves.Count + havenots.Count > 0)
{
hashText += (haves.Count > 0 ? haves.Dequeue() : havenots.Dequeue()) + (haves.Count + havenots.Count >= 1 ? "\n" : "");
}
Dictionary <string, MsgFieldInfo> mfis = MessageFieldHelper.Instantiate(msgFile.Stuff);
MsgFieldInfo[] fields = mfis.Values.ToArray();
for (int i = 0; i < fields.Length; i++)
{
var field = fields[i];
if (field.IsPrimitive)
{
continue;
}
MsgFile ms = msgFile.Stuff[i].Definer;
if (ms == null)
{
KnownStuff.WhatItIs(msgFile, msgFile.Stuff[i]);
if (msgFile.Stuff[i].Type.Contains("/"))
{
msgFile.resolve(msgFile.Stuff[i]);
}
ms = msgFile.Stuff[i].Definer;
}
string sum = null;
if (ms == null)
{
RosMessage rosMessage = null;
var packages = MessageTypeRegistry.Default.PackageNames;
foreach (var package in packages)
{
try
{
var name = msgFile.Stuff[i].Type;
Console.WriteLine($"generate {package}/{name}");
rosMessage = RosMessage.Generate($"{package}/{name}");
sum = rosMessage.MD5Sum();
break;
}
catch
{
}
}
if (rosMessage == null)
{
Logger.LogDebug("NEEDS ANOTHER PASS: "******" B/C OF " + msgFile.Stuff[i].Type);
return(null);
}
}
else
{
sum = MD5.Sum(ms);
}
if (sum == null)
{
Logger.LogDebug("STILL NEEDS ANOTHER PASS: "******" B/C OF " + msgFile.Stuff[i].Type);
return(null);
}
hashText = Regex.Replace(hashText, @"^(.*/)?\b" + fields[i].Type + @"\b(\s*\[\s*\])?", sum, RegexOptions.Multiline);
}
return(hashText);
}