public void ActionCalls_are_always_global_without_namespace()
{
/*
* 1) Select all Messages
* 2) Filter for any (namespace independent) "fibonacci" action calls
*/
var fibonacciActionMessages = Scenario
.Messages
.ForAction("**/fibonacci")
.Calls();
fibonacciActionMessages.Should().NotBeEmpty();
/*
* Action name should be a global name
* Action name should not have a placeholder
* All messages belong to the actionName namespace
*/
foreach (var actionCall in fibonacciActionMessages)
{
var actionName = actionCall.ActionName;
RosNameRegex.IsGlobalPattern(actionName).Should().BeTrue();
RosNameRegex.ContainsPlaceholders(actionName).Should().BeFalse();
actionCall.GoalMessage.Topic.Should().StartWith(actionName);
actionCall.ResultMessage?.Topic.Should().StartWith(actionName);
actionCall.FeedbackMessages.Should().OnlyContain(x => x.Topic.StartsWith(actionName));
}
}
public static ActionMessagesCollection Create(string actionNamePattern, IEnumerable <IRecordedMessage> messages)
{
if (actionNamePattern == null)
{
throw new ArgumentNullException(nameof(actionNamePattern));
}
if (messages == null)
{
throw new ArgumentNullException(nameof(messages));
}
actionNamePattern = actionNamePattern.Trim();
if (string.Empty.Equals(actionNamePattern))
{
throw new InvalidRosNamePatternException("ROS name pattern must not be empty", nameof(actionNamePattern));
}
if (actionNamePattern.EndsWith("/"))
{
throw new InvalidRosNamePatternException(
"ROS name pattern must not end with a namespace separator ('/')", nameof(actionNamePattern));
}
var actionName = actionNamePattern.Substring(actionNamePattern.LastIndexOf("/", StringComparison.InvariantCulture) + 1);
if (RosNameRegex.ContainsPlaceholders(actionName))
{
throw new InvalidRosNamePatternException("ROS action name must not contain any placeholders", nameof(actionNamePattern));
}
var actionTopicsPattern = actionNamePattern + "/*";
var actionMessages = messages
.InTopic(actionTopicsPattern);
var actionMessagesCollection = new ActionMessagesCollection(actionNamePattern, actionMessages);
return(actionMessagesCollection);
}