public void SendTaskAsync_Success()
{
var str = new std_msgs.String();
var header = new
{
callerid = "test",
topic = "mytopic",
md5sum = str.Md5Sum,
type = str.MessageType
};
var stream = new MemoryStream();
TcpRosHeaderSerializer.Serialize(stream, header);
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => Observable.Return(stream.ToArray());
MTcpRosClient.AllInstances.SendAsyncByteArray = (t1, t2) => Task.Factory.StartNew(() => t2.Length);
var sock = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
var topic = new RosTopicClient <std_msgs.String>("mynode", "mytopic");
topic.StartAsync(sock).Wait();
topic.SendAsync(new std_msgs.String()
{
data = "test"
}).Result.Is(12);
}
public void StartAsync_SendHeaderError()
{
var str = new std_msgs.String();
var header = new
{
callerid = "test",
topic = "mytopic",
md5sum = str.Md5Sum,
type = str.MessageType
};
var stream = new MemoryStream();
TcpRosHeaderSerializer.Serialize(stream, header);
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => Observable.Return(stream.ToArray());
MTcpRosClient.AllInstances.SendAsyncByteArray = (t1, t2) => { throw new InvalidOperationException("Send Error"); };
var sock = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
var topic = new RosTopicClient <std_msgs.String>("mynode", "mytopic");
var ex = AssertEx.Throws <AggregateException>(() => topic.StartAsync(sock).Wait());
ex.InnerException.GetType().Is(typeof(InvalidOperationException));
ex.InnerException.Message.Is("Send Error");
}
public void SendTaskAsync_NotConnectedError()
{
var topic = new RosTopicClient <std_msgs.String>("mynode", "mytopic");
var ex = AssertEx.Throws <InvalidOperationException>(() => topic.SendAsync(new std_msgs.String()
{
data = "test"
}).Wait());
ex.Message.Is("Not Connected");
}
public void StartAsync_ReceiveError()
{
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => { throw new InvalidOperationException("Receive Error"); };
var sock = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
var topic = new RosTopicClient <std_msgs.String>("mynode", "mytopic");
var ex = AssertEx.Throws <InvalidOperationException>(() => topic.StartAsync(sock).Wait());
//ex.InnerException.GetType().Is(typeof(InvalidOperationException));
ex.Message.Is("Receive Error");
}
public void StartAsync_ReceiveTimeoutError()
{
Ros.TopicTimeout = 100;
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) =>
Observable.Return(new byte[0]).Delay(TimeSpan.FromSeconds(3));
var sock = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
var topic = new RosTopicClient <std_msgs.String>("mynode", "mytopic");
var ex = AssertEx.Throws <AggregateException>(() => topic.StartAsync(sock).Wait());
ex.InnerException.GetType().Is(typeof(TimeoutException));
}
public void StartAsync_ReceiveHeaderNotEnoughtMemberError()
{
var str = new std_msgs.String();
var header = new
{
callerid = "test",
type = str.MessageType
};
var stream = new MemoryStream();
TcpRosHeaderSerializer.Serialize(stream, header);
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => Observable.Return(stream.ToArray());
var sock = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
var topic = new RosTopicClient <std_msgs.String>("mynode", "mytopic");
var ex = AssertEx.Throws <AggregateException>(() => topic.StartAsync(sock).Wait());
ex.InnerException.GetType().Is(typeof(RuntimeBinderException));
}
