public void WorkerLoopWhenNoMessages()
{
// arrange
var eventWasInvoked = false;
var dataContract = new Mock <IDataContractOperations>();
dataContract.Setup(x => x.Deserialize(It.IsAny <SerializedMessage>()));
var worker = new MessageDeserializer(dataContract.Object);
worker.OnNewMessage += _ => eventWasInvoked = true;
// act
var messageProcessed = worker.DoWork();
// assert
Assert.IsFalse(messageProcessed);
Assert.IsFalse(eventWasInvoked);
dataContract.Verify(x => x.Deserialize(It.IsAny <SerializedMessage>()), Times.Never);
}
public async Task ListenToNode()
{
using (UdpClient client = new UdpClient(1340, AddressFamily.InterNetwork))
{
while (true)
{
UdpReceiveResult result = await client.ReceiveAsync();
Message msg = MessageDeserializer.Deserialize(result.Buffer);
TextBoxContent += string.Format("{0:HH:mm:ss}: Answer from {1}. Message: {2}\n Balance: {3} Clock: {4}\n",
DateTime.Now,
result.RemoteEndPoint,
msg.controlBlock.Command,
msg.communicationBlock.payload.balance,
msg.communicationBlock.clock);
NodeFromMessage(msg).CurrentBalance = msg.communicationBlock.payload.balance;
NodeFromMessage(msg).CurrentClock = msg.communicationBlock.clock.ToString();
}
}
}
public void DeserializeMessage()
{
var testMessage = new TestMessage();
testMessage.Name = "Test";
var testMessageJson = JsonConvert.SerializeObject(testMessage);
BusBodyMessage busBodyMessage = new BusBodyMessage();
busBodyMessage.Message = testMessageJson;
var busBodyJson = JsonConvert.SerializeObject(busBodyMessage);
var message = new Amazon.SQS.Model.Message
{
Body = busBodyJson
};
var sut = new MessageDeserializer();
var actual = sut.Deserialize <TestMessage>(message);
actual.Name = "ExpectedMessage";
}
private MultiDOFJointTrajectoryMsg(MessageDeserializer deserializer)
{
this.header = Std.HeaderMsg.Deserialize(deserializer);
deserializer.Read(out this.joint_names, deserializer.ReadLength());
deserializer.Read(out this.points, MultiDOFJointTrajectoryPointMsg.Deserialize, deserializer.ReadLength());
}
private OctomapWithPoseMsg(MessageDeserializer deserializer)
{
this.header = HeaderMsg.Deserialize(deserializer);
this.origin = Geometry.PoseMsg.Deserialize(deserializer);
this.octomap = OctomapMsg.Deserialize(deserializer);
}
private SetBoolResponse(MessageDeserializer deserializer)
{
deserializer.Read(out this.success);
deserializer.Read(out this.message);
}
private DiagnosticArrayMsg(MessageDeserializer deserializer)
{
this.header = Std.HeaderMsg.Deserialize(deserializer);
deserializer.Read(out this.status, DiagnosticStatusMsg.Deserialize, deserializer.ReadLength());
}
public static LookupTransformGoal Deserialize(MessageDeserializer deserializer) => new LookupTransformGoal(deserializer);
public static TimeReferenceMsg Deserialize(MessageDeserializer deserializer) => new TimeReferenceMsg(deserializer);
private GetMapFeedback(MessageDeserializer deserializer)
{
}
public static GetMapFeedback Deserialize(MessageDeserializer deserializer) => new GetMapFeedback(deserializer);
GetMapActionFeedback(MessageDeserializer deserializer) : base(deserializer)
{
this.feedback = GetMapFeedback.Deserialize(deserializer);
}
private FluidPressureMsg(MessageDeserializer deserializer)
{
this.header = Std.HeaderMsg.Deserialize(deserializer);
deserializer.Read(out this.fluid_pressure);
deserializer.Read(out this.variance);
}
public static FluidPressureMsg Deserialize(MessageDeserializer deserializer) => new FluidPressureMsg(deserializer);
private FrameGraphResponse(MessageDeserializer deserializer)
{
deserializer.Read(out this.frame_yaml);
}
public static PointCloudMsg Deserialize(MessageDeserializer deserializer) => new PointCloudMsg(deserializer);
private PointCloudMsg(MessageDeserializer deserializer)
{
this.header = Std.HeaderMsg.Deserialize(deserializer);
deserializer.Read(out this.points, Geometry.Point32Msg.Deserialize, deserializer.ReadLength());
deserializer.Read(out this.channels, ChannelFloat32Msg.Deserialize, deserializer.ReadLength());
}
public static GoalIDMsg Deserialize(MessageDeserializer deserializer) => new GoalIDMsg(deserializer);
private TimeReferenceMsg(MessageDeserializer deserializer)
{
this.header = Std.HeaderMsg.Deserialize(deserializer);
this.time_ref = BuiltinInterfaces.TimeMsg.Deserialize(deserializer);
deserializer.Read(out this.source);
}
private GoalIDMsg(MessageDeserializer deserializer)
{
this.stamp = BuiltinInterfaces.TimeMsg.Deserialize(deserializer);
deserializer.Read(out this.id);
}
public static DiagnosticArrayMsg Deserialize(MessageDeserializer deserializer) => new DiagnosticArrayMsg(deserializer);
//private int RegisterStateType(string stateName, StatePeeker peeker, StatePriorityCalculator priority, StateSerializer serializer, StateDeserializer deserializer) {
// if(StateCodes.Contains(stateName)) {
// Debug.LogException(new Exception("Can not register state type [" + stateName + "] because a state already exists with that name"));
// }
// StateCodes.Add(stateName);
// StateSerializers.Add(serializer);
// StateDeserializers.Add(deserializer);
// StatePeekers.Add(peeker);
// StatePriorityCalculators.Add(priority);
// int stateId = StateCodes.Count - 1;
// return stateId;
//}
//public int GetStateCode(string stateName) {
// if(StateCodes.Contains(stateName)) {
// return StateCodes.IndexOf(stateName);
// }
// throw new Exception("State with name [" + stateName + "] does not exist");
//}
public int RegisterMessageType(string messageName, MessagePeeker peeker, MessagePriorityCalculator priority, MessageSerializer serializer, MessageDeserializer deserializer, MessageProcessor processor)
{
if (MessageCodes.Contains(messageName))
{
Debug.LogException(new Exception("Can not register message type [" + messageName + "] because a message already exists with that name"));
}
MessageCodes.Add(messageName);
MessageSerializers.Add(serializer);
MessageDeserializers.Add(deserializer);
MessageProcessors.Add(processor);
MessagePeekers.Add(peeker);
MessagePriorityCalculators.Add(priority);
int msgId = MessageCodes.Count - 1;
return(msgId);
}
public static SetBoolResponse Deserialize(MessageDeserializer deserializer) => new SetBoolResponse(deserializer);
public static PoseMsg Deserialize(MessageDeserializer deserializer) => new PoseMsg(deserializer);
public static OctomapWithPoseMsg Deserialize(MessageDeserializer deserializer) => new OctomapWithPoseMsg(deserializer);
private PoseMsg(MessageDeserializer deserializer)
{
this.position = PointMsg.Deserialize(deserializer);
this.orientation = QuaternionMsg.Deserialize(deserializer);
}
public static MultiDOFJointTrajectoryMsg Deserialize(MessageDeserializer deserializer) => new MultiDOFJointTrajectoryMsg(deserializer);
public static PolygonStampedMsg Deserialize(MessageDeserializer deserializer) => new PolygonStampedMsg(deserializer);
public static RBigInt Deserialize(BaseMessage baseMessage)
{
var deserializer = new MessageDeserializer <RBigInt>();
return(deserializer.Deserialize(baseMessage));
}
private PolygonStampedMsg(MessageDeserializer deserializer)
{
this.header = Std.HeaderMsg.Deserialize(deserializer);
this.polygon = PolygonMsg.Deserialize(deserializer);
}
