public void StartAsync_ReceiveHeaderMismatch()
{
var str = new std_msgs.String();
var header = new
{
callerid = "test",
topic = "mytopic",
md5sum = "aaaaaaaaaaaaa",
type = str.MessageType
};
var stream = new MemoryStream();
TcpRosHeaderSerializer.Serialize(stream, header);
MTcpRosClient.AllInstances.ConnectAsyncStringInt32 = (t1, t2, t3) => Task.Factory.StartNew(() => { });
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => Observable.Return(stream.ToArray());
MTcpRosClient.AllInstances.SendAsyncByteArray = (t1, t2) => Task <int> .Factory.StartNew(() => t2.Length);
var server = new RosTopicServer <std_msgs.String>("mynode", "mytopic", new Uri("http://localhost"));
var task = server.StartAsync(new TopicParam()
{
HostName = "test", PortNumber = 1234, ProtocolName = "TCPROS"
});
var ex = AssertEx.Throws <AggregateException>(() => task.Wait());
ex.InnerException.GetType().Is(typeof(RosTopicException));
ex.InnerException.Message.Is("MD5Sum mismatch error");
}
public void StartAsync_ReceiveHeaderMismatch()
{
var str = new std_msgs.String();
var header = new
{
callerid = "test",
topic = "mytopic",
md5sum = "aaaaaaaaaaaaa",
type = str.MessageType
};
var stream = new MemoryStream();
TcpRosHeaderSerializer.Serialize(stream, header);
MTcpRosClient.AllInstances.ConnectAsyncStringInt32 = (t1, t2, t3) => Task.Factory.StartNew(() => { });
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => Observable.Return(stream.ToArray());
MTcpRosClient.AllInstances.SendAsyncByteArray = (t1, t2) => Task<int>.Factory.StartNew(() => t2.Length);
var server = new RosTopicServer<std_msgs.String>("mynode", "mytopic", new Uri("http://localhost"));
var task = server.StartAsync(new TopicParam() { HostName = "test", PortNumber = 1234, ProtocolName = "TCPROS" });
var ex = AssertEx.Throws<AggregateException>(() => task.Wait());
ex.InnerException.GetType().Is(typeof(RosTopicException));
ex.InnerException.Message.Is("MD5Sum mismatch error");
}
public void StartAsync_ConnectionError()
{
var server = new RosTopicServer<std_msgs.String>("mynode", "mytopic", new Uri("http://localhost"));
var task = server.StartAsync(new TopicParam() {HostName = "test", PortNumber = 1234, ProtocolName = "TCPROS"});
var ex = AssertEx.Throws<AggregateException>(() => task.Wait());
ex.InnerException.GetType().Is(typeof (SocketException));
}
public void StartAsync_Success()
{
var str = new std_msgs.String()
{
data = "test message"
};
var header = new
{
callerid = "test",
topic = "mytopic",
md5sum = str.Md5Sum,
type = str.MessageType
};
var headerStream = new MemoryStream();
TcpRosHeaderSerializer.Serialize(headerStream, header);
var dataStream = new MemoryStream();
var bw = new BinaryWriter(dataStream);
bw.Write(str.SerializeLength);
str.Serialize(bw);
MTcpRosClient.AllInstances.ConnectAsyncStringInt32 = (t1, t2, t3) => Task.Factory.StartNew(() => { });
// 1.Receive Header, 2.Receive Data(std_msgs.String)
int count = 0;
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => {
if (count == 0)
{
count++;
return(Observable.Return(headerStream.ToArray()));
}
else
{
return(Observable.Return(dataStream.ToArray()));
}
};
MTcpRosClient.AllInstances.SendAsyncByteArray = (t1, t2) => Task <int> .Factory.StartNew(() => t2.Length);
var server = new RosTopicServer <std_msgs.String>("mynode", "mytopic", new Uri("http://localhost"));
var task = server.StartAsync(new TopicParam()
{
HostName = "test", PortNumber = 1234, ProtocolName = "TCPROS"
});
var subscriber = task.Result;
var rec = subscriber.Timeout(TimeSpan.FromSeconds(3)).First();
rec.data.Is("test message");
}
public void StartAsync_ConnectionError()
{
var server = new RosTopicServer <std_msgs.String>("mynode", "mytopic", new Uri("http://localhost"));
var task = server.StartAsync(new TopicParam()
{
HostName = "test", PortNumber = 1234, ProtocolName = "TCPROS"
});
var ex = AssertEx.Throws <AggregateException>(() => task.Wait());
ex.InnerException.GetType().Is(typeof(SocketException));
}
public void StartAsync_HeaderDeserializeError()
{
MTcpRosClient.AllInstances.ConnectAsyncStringInt32 = (t1, t2, t3) => Task.Factory.StartNew(() => { });
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => Observable.Return(new byte[0]);
MTcpRosClient.AllInstances.SendAsyncByteArray = (t1, t2) => Task<int>.Factory.StartNew(() => t2.Length);
var server = new RosTopicServer<std_msgs.String>("mynode", "mytopic", new Uri("http://localhost"));
var task = server.StartAsync(new TopicParam() { HostName = "test", PortNumber = 1234, ProtocolName = "TCPROS" });
var ex = AssertEx.Throws<AggregateException>(() => task.Wait());
ex.InnerException.GetType().Is(typeof(RosTopicException));
ex.InnerException.Message.Is("Stream length is too short");
}
public void StartAsync_SendAsyncError()
{
MTcpRosClient.AllInstances.ConnectAsyncStringInt32 = (t1, t2, t3) => Task.Factory.StartNew(() => { });
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => Observable.Return(new byte[0]);
var server = new RosTopicServer <std_msgs.String>("mynode", "mytopic", new Uri("http://localhost"));
var task = server.StartAsync(new TopicParam()
{
HostName = "test", PortNumber = 1234, ProtocolName = "TCPROS"
});
var ex = AssertEx.Throws <AggregateException>(() => task.Wait());
ex.InnerException.GetType().Is(typeof(ArgumentException));
}
public void StartAsync_ReceiveHeaderTimeoutError()
{
Ros.TopicTimeout = 100;
MTcpRosClient.AllInstances.ConnectAsyncStringInt32 = (t1, t2, t3) => Task.Factory.StartNew(() => { });
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => Observable.Return(new byte[0]).Delay(TimeSpan.FromSeconds(3));
MTcpRosClient.AllInstances.SendAsyncByteArray = (t1, t2) => Task <int> .Factory.StartNew(() => t2.Length);
var server = new RosTopicServer <std_msgs.String>("mynode", "mytopic", new Uri("http://localhost"));
var task = server.StartAsync(new TopicParam()
{
HostName = "test", PortNumber = 1234, ProtocolName = "TCPROS"
});
var ex = AssertEx.Throws <AggregateException>(() => task.Wait());
ex.InnerException.GetType().Is(typeof(TimeoutException));
}
public void StartAsync_ReceiveHeaderTimeoutError()
{
Ros.TopicTimeout = 100;
MTcpRosClient.AllInstances.ConnectAsyncStringInt32 = (t1, t2, t3) => Task.Factory.StartNew(() => { });
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => Observable.Return(new byte[0]).Delay(TimeSpan.FromSeconds(3));
MTcpRosClient.AllInstances.SendAsyncByteArray = (t1, t2) => Task<int>.Factory.StartNew(() => t2.Length);
var server = new RosTopicServer<std_msgs.String>("mynode", "mytopic", new Uri("http://localhost"));
var task = server.StartAsync(new TopicParam() {HostName = "test", PortNumber = 1234, ProtocolName = "TCPROS"});
var ex = AssertEx.Throws<AggregateException>(() => task.Wait());
ex.InnerException.GetType().Is(typeof (TimeoutException));
}
public void StartAsync_Success()
{
var str = new std_msgs.String(){data = "test message"};
var header = new
{
callerid = "test",
topic = "mytopic",
md5sum = str.Md5Sum,
type = str.MessageType
};
var headerStream = new MemoryStream();
TcpRosHeaderSerializer.Serialize(headerStream, header);
var dataStream = new MemoryStream();
var bw = new BinaryWriter(dataStream);
bw.Write(str.SerializeLength);
str.Serialize(bw);
MTcpRosClient.AllInstances.ConnectAsyncStringInt32 = (t1, t2, t3) => Task.Factory.StartNew(() => { });
// 1.Receive Header, 2.Receive Data(std_msgs.String)
int count = 0;
MTcpRosClient.AllInstances.ReceiveAsyncInt32 = (t1, t2) => {
if(count == 0)
{
count++;
return Observable.Return(headerStream.ToArray());
}
else
{
return Observable.Return(dataStream.ToArray());
}
};
MTcpRosClient.AllInstances.SendAsyncByteArray = (t1, t2) => Task<int>.Factory.StartNew(() => t2.Length);
var server = new RosTopicServer<std_msgs.String>("mynode", "mytopic", new Uri("http://localhost"));
var task = server.StartAsync(new TopicParam() { HostName = "test", PortNumber = 1234, ProtocolName = "TCPROS" });
var subscriber = task.Result;
var rec = subscriber.Timeout(TimeSpan.FromSeconds(3)).First();
rec.data.Is("test message");
}
