public void PerceptionMessageClear()
{
PerceptionEventMessage originalMessage = new PerceptionEventMessage();
originalMessage.ObjectFragment.ObjectId = Guid.NewGuid();
originalMessage.ObjectFragment.ObjectIndex = 1;
originalMessage.ObjectFragment.TypeId = Guid.NewGuid();
originalMessage.ObjectFragment.ObjectName = "TestObjectName";
originalMessage.ObjectFragment.TypeName = "TestTypeName";
originalMessage.ObjectFragment.OwnerId = Guid.NewGuid();
originalMessage.ObjectFragment.Location.X = 1; originalMessage.ObjectFragment.Location.Y = 2; originalMessage.ObjectFragment.Location.Z = 3;
originalMessage.ObjectFragment.Velocity.X = 4; originalMessage.ObjectFragment.Velocity.Y = 5; originalMessage.ObjectFragment.Velocity.Z = 6;
originalMessage.ObjectFragment.Acceleration.X = 7; originalMessage.ObjectFragment.Acceleration.Y = 8; originalMessage.ObjectFragment.Acceleration.Z = 9;
originalMessage.ObjectFragment.Orientation.X = 10; originalMessage.ObjectFragment.Orientation.Y = 11; originalMessage.ObjectFragment.Orientation.Z = 12; originalMessage.ObjectFragment.Orientation.W = 13;
originalMessage.ObjectFragment.AngularVelocity.X = 14; originalMessage.ObjectFragment.AngularVelocity.Y = 15; originalMessage.ObjectFragment.AngularVelocity.Z = 16; originalMessage.ObjectFragment.AngularVelocity.W = 17;
originalMessage.ObjectFragment.AngularAcceleration.X = 18; originalMessage.ObjectFragment.AngularAcceleration.Y = 19; originalMessage.ObjectFragment.AngularAcceleration.Z = 20; originalMessage.ObjectFragment.AngularAcceleration.W = 21;
originalMessage.ObjectFragment.BoundingSphereRadius = 22;
originalMessage.ObjectFragment.Mass = 23;
originalMessage.ObjectFragment.ExtensionDialect = "TEST";
originalMessage.ObjectFragment.SetExtensionData(UTF8Encoding.UTF8.GetBytes(
"1234567890123456789012345678901234567890123456789012345678901234567890123456789012345678901234567890" +
"1234567890123456789012345678901234567890123456789012345678901234567890123456789012345678901234567890" +
"1234567890123456789012345678901234567890123456789012345678901234567890123456789012345678901234567890" +
"1234567890123456789012345678901234567890123456789012345678901234567890123456789012345678901234567890"));
originalMessage.PrepareEncoding();
originalMessage.Clear();
PerceptionEventMessage emptyMessage = new PerceptionEventMessage();
emptyMessage.MessageId = originalMessage.MessageId;
Assert.AreEqual(originalMessage.ToString(), emptyMessage.ToString());
}
public void PerceptionMessageThreeFrameEncoding()
{
PerceptionEventMessage originalMessage = new PerceptionEventMessage();
originalMessage.ObjectFragment.ObjectId = Guid.NewGuid();
originalMessage.ObjectFragment.ObjectIndex = 1;
originalMessage.ObjectFragment.TypeId = Guid.NewGuid();
originalMessage.ObjectFragment.ObjectName = "TestObjectName";
originalMessage.ObjectFragment.TypeName = "TestTypeName";
originalMessage.ObjectFragment.OwnerId = Guid.NewGuid();
originalMessage.ObjectFragment.Location.X = 1; originalMessage.ObjectFragment.Location.Y = 2; originalMessage.ObjectFragment.Location.Z = 3;
originalMessage.ObjectFragment.Velocity.X = 4; originalMessage.ObjectFragment.Velocity.Y = 5; originalMessage.ObjectFragment.Velocity.Z = 6;
originalMessage.ObjectFragment.Acceleration.X = 7; originalMessage.ObjectFragment.Acceleration.Y = 8; originalMessage.ObjectFragment.Acceleration.Z = 9;
originalMessage.ObjectFragment.Orientation.X = 10; originalMessage.ObjectFragment.Orientation.Y = 11; originalMessage.ObjectFragment.Orientation.Z = 12; originalMessage.ObjectFragment.Orientation.W = 13;
originalMessage.ObjectFragment.AngularVelocity.X = 14; originalMessage.ObjectFragment.AngularVelocity.Y = 15; originalMessage.ObjectFragment.AngularVelocity.Z = 16; originalMessage.ObjectFragment.AngularVelocity.W = 17;
originalMessage.ObjectFragment.AngularAcceleration.X = 18; originalMessage.ObjectFragment.AngularAcceleration.Y = 19; originalMessage.ObjectFragment.AngularAcceleration.Z = 20; originalMessage.ObjectFragment.AngularAcceleration.W = 21;
originalMessage.ObjectFragment.BoundingSphereRadius = 22;
originalMessage.ObjectFragment.Mass = 23;
originalMessage.ObjectFragment.ExtensionDialect = "TEST";
originalMessage.ObjectFragment.SetExtensionData(UTF8Encoding.UTF8.GetBytes(
"1234567890123456789012345678901234567890123456789012345678901234567890123456789012345678901234567890" +
"1234567890123456789012345678901234567890123456789012345678901234567890123456789012345678901234567890" +
"1234567890123456789012345678901234567890123456789012345678901234567890123456789012345678901234567890" +
"1234567890123456789012345678901234567890123456789012345678901234567890123456789012345678901234567890"));
originalMessage.PrepareEncoding();
byte[] encodedBytes = new byte[MxpConstants.MaxPacketSize];
Assert.AreEqual(originalMessage.FrameCount, 3);
Assert.AreEqual(originalMessage.FrameDataSize(0), 255);
Assert.AreEqual(originalMessage.FrameDataSize(1), 255);
Assert.AreEqual(originalMessage.FrameDataSize(2), 100);
int currentIndex = originalMessage.EncodeFrameData(0, encodedBytes, 0);
currentIndex = originalMessage.EncodeFrameData(1, encodedBytes, currentIndex);
currentIndex = originalMessage.EncodeFrameData(2, encodedBytes, currentIndex);
PerceptionEventMessage decodedMessage = new PerceptionEventMessage();
int currentDecodeIndex = decodedMessage.DecodeFrameData(0, encodedBytes, 0, originalMessage.FrameDataSize(0));
currentDecodeIndex = decodedMessage.DecodeFrameData(1, encodedBytes, currentDecodeIndex, originalMessage.FrameDataSize(1));
currentDecodeIndex = decodedMessage.DecodeFrameData(2, encodedBytes, currentDecodeIndex, originalMessage.FrameDataSize(2));
decodedMessage.MessageId = originalMessage.MessageId;
String originalMessageString = originalMessage.ToString();
String decodedMessageString = decodedMessage.ToString();
Assert.AreEqual(originalMessageString, decodedMessageString);
}
public void PerceptionMessageEncoding()
{
PerceptionEventMessage originalMessage = new PerceptionEventMessage();
originalMessage.ObjectFragment.ObjectId = Guid.NewGuid();
originalMessage.ObjectFragment.ObjectIndex = 1;
originalMessage.ObjectFragment.TypeId = Guid.NewGuid();
originalMessage.ObjectFragment.ObjectName = "TestObjectName";
originalMessage.ObjectFragment.TypeName = "TestTypeName";
originalMessage.ObjectFragment.OwnerId = Guid.NewGuid();
originalMessage.ObjectFragment.Location.X = 1; originalMessage.ObjectFragment.Location.Y = 2; originalMessage.ObjectFragment.Location.Z = 3;
originalMessage.ObjectFragment.Velocity.X = 4; originalMessage.ObjectFragment.Velocity.Y = 5; originalMessage.ObjectFragment.Velocity.Z = 6;
originalMessage.ObjectFragment.Acceleration.X = 7; originalMessage.ObjectFragment.Acceleration.Y = 8; originalMessage.ObjectFragment.Acceleration.Z = 9;
originalMessage.ObjectFragment.Orientation.X = 10; originalMessage.ObjectFragment.Orientation.Y = 11; originalMessage.ObjectFragment.Orientation.Z = 12; originalMessage.ObjectFragment.Orientation.W = 13;
originalMessage.ObjectFragment.AngularVelocity.X = 14; originalMessage.ObjectFragment.AngularVelocity.Y = 15; originalMessage.ObjectFragment.AngularVelocity.Z = 16; originalMessage.ObjectFragment.AngularVelocity.W = 17;
originalMessage.ObjectFragment.AngularAcceleration.X = 18; originalMessage.ObjectFragment.AngularAcceleration.Y = 19; originalMessage.ObjectFragment.AngularAcceleration.Z = 20; originalMessage.ObjectFragment.AngularAcceleration.W = 21;
originalMessage.ObjectFragment.BoundingSphereRadius = 22;
originalMessage.ObjectFragment.Mass = 23;
OmSlPrimitiveExt originalExtensionFragment = new OmSlPrimitiveExt();
originalExtensionFragment.State = 24;
originalExtensionFragment.NameValue = "TestExtensionNameValue";
MsdVector3f scale = new MsdVector3f();
scale.X = 1;
scale.Y = 2;
scale.Z = 3;
originalExtensionFragment.Scale = scale;
originalMessage.SetExtension <OmSlPrimitiveExt>(originalExtensionFragment);
originalMessage.PrepareEncoding();
byte[] encodedBytes = new byte[MxpConstants.MaxPacketSize];
Assert.AreEqual(originalMessage.FrameCount, 2);
Assert.AreEqual(originalMessage.FrameDataSize(0), 255);
Assert.AreEqual(originalMessage.FrameDataSize(1), 49);
int currentIndex = originalMessage.EncodeFrameData(0, encodedBytes, 0);
currentIndex = originalMessage.EncodeFrameData(1, encodedBytes, currentIndex);
PerceptionEventMessage decodedMessage = new PerceptionEventMessage();
int currentDecodeIndex = decodedMessage.DecodeFrameData(0, encodedBytes, 0, originalMessage.FrameDataSize(0));
currentDecodeIndex = decodedMessage.DecodeFrameData(1, encodedBytes, currentDecodeIndex, originalMessage.FrameDataSize(1));
decodedMessage.MessageId = originalMessage.MessageId;
String originalMessageString = originalMessage.ToString();
String decodedMessageString = decodedMessage.ToString();
Assert.AreEqual(originalMessageString, decodedMessageString);
OmSlPrimitiveExt decodedExtensionFragmet = decodedMessage.GetExtension <OmSlPrimitiveExt>();
Assert.AreEqual(originalExtensionFragment.State, decodedExtensionFragmet.State);
Assert.AreEqual(originalExtensionFragment.NameValue, decodedExtensionFragmet.NameValue);
}