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 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 T DeserializeAs <T>()
{
if (_value != null && typeof(T) == _value.GetType())
{
return((T)_value);
}
_data.Position = 0;
var value = _serializer.Deserialize <T>(_data);
_value = value;
return(value);
}
public object GetMessage(Type type)
{
if (type == null)
{
throw new ArgumentNullException(nameof(type));
}
if (_message == null || _message.GetType() != type)
{
_message = _serializer.Deserialize(type, _bagMessage.Message.Data);
}
return(_message);
}
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");
}