public void CanSerializeEnumMessageAndDeserializeWithoutEnum()
{
var typeRegistry = new MessageTypeRegistry();
var serializer = new RosMessageSerializer(typeRegistry);
var ms = new MemoryStream();
const int expectedGoalId = 17;
const byte expectedStatus = 6;
const string expectedText = "test";
var message = new EnumGoalStatus
{
GoalId = expectedGoalId,
Status = (GoalStatusValue)expectedStatus,
Text = expectedText
};
serializer.Serialize(message, ms);
ms.ToArray().Should().NotBeNull();
ms.Position = 0;
var deserializedMessage = (GoalStatus)serializer.Deserialize(typeof(GoalStatus), ms);
deserializedMessage.Should().NotBeNull();
deserializedMessage.GoalId.Should().Be(expectedGoalId);
deserializedMessage.Status.Should().Be(expectedStatus);
deserializedMessage.Text.Should().Be(expectedText);
}
public void CanSerializeEquivalentIntMessageReverse()
{
var typeRegistry = new MessageTypeRegistry();
var serializer = new RosMessageSerializer(typeRegistry);
var ms = new MemoryStream();
const int expectedValue = 17;
const string expectedText = "It could be any string";
var message = new EquivalentIntMessages.ShortMessage()
{
Value = expectedValue,
Text = expectedText
};
serializer.Serialize(message, ms);
ms.ToArray().Should().NotBeNull();
ms.Position = 0;
var deserializedMessage = (EquivalentIntMessages.IntMessage)serializer.Deserialize(typeof(EquivalentIntMessages.IntMessage), ms);
deserializedMessage.Should().NotBeNull();
deserializedMessage.Value.Should().Be(expectedValue);
deserializedMessage.Text.Should().Be(expectedText);
}
public static PartialMessageDeserializer CreateFromStream(Stream stream, RosMessageSerializer serializer)
{
var goalMessage = new MemoryStream();
stream.CopyTo(goalMessage);
goalMessage.Position = 0;
return(new PartialMessageDeserializer(goalMessage, serializer));
}
// TODO: Avoid default hardcoded initialization
static RosbagReader()
{
var serializer = new RosMessageSerializer(new MessageTypeRegistry());
serializer.UseUmlRoboticsRos();
serializer.UseIntegROSActions();
MessageSerializer = serializer;
Instance = new RobSharperRosbagReaderAdapter(serializer);
}
public static void UseUmlRoboticsRos(this RosMessageSerializer serializer)
{
if (!UmlRoboticsAdapterTypeLoader.AssemblyAvailable)
{
return;
}
var typeInfoFactory = UmlRoboticsAdapterTypeLoader.CreateTypeInfoFactory();
var messageFormatter = UmlRoboticsAdapterTypeLoader.CreateFormatter();
serializer.MessageTypeRegistry.RosMessageTypeInfoFactories.Add(typeInfoFactory);
serializer.MessageFormatters.Add(messageFormatter);
}
public void CanSerializeEmptyMessage()
{
var typeRegistry = new MessageTypeRegistry();
var serializer = new RosMessageSerializer(typeRegistry);
var ms = new MemoryStream();
var message = new Empty();
serializer.Serialize(message, ms);
ms.ToArray().Should().NotBeNull();
ms.Position = 0;
var deserializedMessage = serializer.Deserialize(message.GetType(), ms);
deserializedMessage.Should().NotBeNull();
deserializedMessage.Should().NotBeSameAs(message);
}
private void Test <TMessage>(TMessage message) where TMessage : IIntValues
{
var serializer = new RosMessageSerializer(new MessageTypeRegistry());
var ms = new MemoryStream();
int[] expectedValues = { 1, 2, 3, 4, 5 };
int expectedSum = 15;
message.Values = expectedValues;
serializer.Serialize(message, ms);
ms.ToArray().Should().NotBeNull();
ms.Position = 0;
var deserializedMessage = (TMessage)serializer.Deserialize(typeof(TMessage), ms);
deserializedMessage.Should().NotBeNull();
deserializedMessage.Values.All(x => x > 0).Should().BeTrue("all items should be > 0");
deserializedMessage.Values.Sum().Should().Be(expectedSum, "the sum of all items should be 15");
}
public RobSharperRosbagReaderAdapter(RosMessageSerializer serializer)
{
_serializer = serializer ?? throw new ArgumentNullException(nameof(serializer));
}
public static void UseIntegROSActions(this RosMessageSerializer serializer)
{
serializer.MessageTypeRegistry.RosMessageTypeInfoFactories.Add(new IntegrosActionTypeInfoFactory());
serializer.MessageFormatters.Add(new ActionFormatter(serializer));
}
private PartialMessageDeserializer(MemoryStream data, RosMessageSerializer serializer)
{
_data = data;
_serializer = serializer;
}
private static object DeserializeActionResult(SerializationContext context, RosBinaryReader reader, IRosMessageTypeInfo messageTypeInfo, RosMessageSerializer serializer)
{
var header = Deserialize <Header>(context, reader);
var goalStatus = Deserialize <GoalStatus>(context, reader);
var partialMessageDeserializer = PartialMessageDeserializer.CreateFromStream(context.Stream, serializer);
return(new ActionResult(header, goalStatus, partialMessageDeserializer));
}
private static ActionGoal DeserializeActionGoal(SerializationContext context, RosBinaryReader reader, IRosMessageTypeInfo messageTypeInfo, RosMessageSerializer serializer)
{
var header = Deserialize <Header>(context, reader);
var goalId = Deserialize <GoalID>(context, reader);
var partialMessageDeserializer = PartialMessageDeserializer.CreateFromStream(context.Stream, serializer);
return(new ActionGoal(header, goalId, partialMessageDeserializer));
}
public ActionFormatter(RosMessageSerializer serializer)
{
Serializer = serializer;
}
public RobSharperRecordedBagMessage(BagMessage bagMessage, RosMessageSerializer serializer)
{
_bagMessage = bagMessage ?? throw new ArgumentNullException(nameof(bagMessage));
_serializer = serializer ?? throw new ArgumentNullException(nameof(serializer));
}
