public void WriteInt32(int val)
{
CDRWriter writer = new CDRWriter();
writer.WriteInt32(val);
CDRReader reader = new CDRReader(writer.GetBuffer().ToArray());
Assert.Equal(val, reader.ReadInt32());
}
public void WriteBool(bool val)
{
CDRWriter writer = new CDRWriter();
writer.WriteBool(val);
CDRReader reader = new CDRReader(writer.GetBuffer().ToArray());
Assert.Equal(val, reader.ReadBool());
}
public void WriteUInt16(ushort val)
{
CDRWriter writer = new CDRWriter();
writer.WriteUInt16(val);
CDRReader reader = new CDRReader(writer.GetBuffer().ToArray());
Assert.Equal(val, reader.ReadUInt16());
}
public void WriteChar(char val)
{
CDRWriter writer = new CDRWriter();
writer.WriteChar(val);
CDRReader reader = new CDRReader(writer.GetBuffer().ToArray());
Assert.Equal(val, reader.ReadChar());
}
public void WriteDouble(double val)
{
CDRWriter writer = new CDRWriter();
writer.WriteDouble(val);
CDRReader reader = new CDRReader(writer.GetBuffer().ToArray());
Assert.Equal(val, reader.ReadDouble());
}
public void WriteSingle(float val)
{
CDRWriter writer = new CDRWriter();
writer.WriteSingle(val);
CDRReader reader = new CDRReader(writer.GetBuffer().ToArray());
Assert.Equal(val, reader.ReadSingle());
}
public void WriteString(string val)
{
CDRWriter writer = new CDRWriter();
writer.WriteString(val);
Assert.Equal(4 + 4 + val.Length + 1, writer.GetBuffer().Length);
CDRReader reader = new CDRReader(writer.GetBuffer().ToArray());
Assert.Equal(val, reader.ReadString());
}
public void CDRHeader()
{
var val = BitConverter.IsLittleEndian
? new byte[] { 0x00, 0x01, 0x00, 0x00 }
: new byte[] { 0x00, 0x00, 0x00, 0x00 };
CDRWriter writer = new CDRWriter();
Assert.Equal(val, writer.GetBuffer().ToArray());
}
private void PubTwist(double linear, double angular)
{
// type to write: geometry_msgs/msg/Twist
CDRWriter cdrWriter = new CDRWriter();
// Vector3 linear => float64 x + float64 y + float64 z
cdrWriter.WriteDouble(linear * _linearScale);
cdrWriter.WriteDouble(0.0);
cdrWriter.WriteDouble(0.0);
// Vector3 angular => float64 x + float64 y + float64 z
cdrWriter.WriteDouble(0.0);
cdrWriter.WriteDouble(0.0);
cdrWriter.WriteDouble(angular * _angularScale);
_session.Write(_cmdKey, cdrWriter.GetBuffer().ToArray());
}
static void Main(string[] args)
{
try
{
// initiate logging
Zenoh.Zenoh.InitLogger();
// arguments parsing
var arguments = Args.Parse <ExampleArgs>(args);
if (arguments == null)
{
return;
}
Dictionary <string, string> conf = arguments.GetConf();
Console.WriteLine("Openning session...");
var s = Zenoh.Net.Session.Open(conf);
var rkey = Zenoh.Net.ResKey.RName(arguments.path);
var userId = 1;
var message = arguments.value;
Console.WriteLine("=== [Publisher] Writing : Message ({0}, {1})", userId, message);
CDRWriter writer = new CDRWriter();
writer.WriteInt32(userId);
writer.WriteString(message);
s.Write(rkey, writer.GetBuffer().ToArray());
s.Dispose();
}
catch (ArgException)
{
Console.WriteLine(ArgUsage.GenerateUsageFromTemplate <ExampleArgs>());
}
}
