public override void deserialize(MemoryStream stream, std_msgs.msg.Bool data)
{
using (BinaryReader reader = new BinaryReader(stream))
{
Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader);
read(data, cdr);
}
}
public override void serialize(std_msgs.msg.Bool data, MemoryStream stream)
{
using (BinaryWriter writer = new BinaryWriter(stream))
{
Halodi.CDR.CDRSerializer cdr = new Halodi.CDR.CDRSerializer(writer);
write(data, cdr);
}
}
public void SetBoolData()
{
std_msgs.msg.Bool msg = new std_msgs.msg.Bool();
Assert.That(msg.Data, Is.False);
msg.Data = true;
Assert.That(msg.Data, Is.True);
msg.Data = false;
Assert.That(msg.Data, Is.False);
}
public static int getCdrSerializedSize(std_msgs.msg.Bool data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += 1 + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
return(current_alignment - initial_alignment);
}
public static void InitPublisher(ref rcl_publisher_t publisher, ref rcl_node_t node, IntPtr publisherOptions)
{
RCLReturnEnum ret;
publisher = NativeMethods.rcl_get_zero_initialized_publisher();
publisherOptions = NativeMethods.rclcs_publisher_create_default_options();
IMessageInternals msg = new std_msgs.msg.Bool();
IntPtr typeSupportHandle = msg.TypeSupportHandle;
ret = (RCLReturnEnum)NativeMethods.rcl_publisher_init(ref publisher, ref node, typeSupportHandle, "publisher_test_topic", publisherOptions);
}
public static void InitSubscription(ref rcl_subscription_t subscription, IntPtr subscriptionOptions, ref rcl_node_t node)
{
RCLReturnEnum ret;
subscription = NativeMethods.rcl_get_zero_initialized_subscription();
subscriptionOptions = NativeMethods.rclcs_subscription_create_default_options();
IMessageInternals msg = new std_msgs.msg.Bool();
IntPtr typeSupportHandle = msg.TypeSupportHandle;
ret = (RCLReturnEnum)NativeMethods.rcl_subscription_init(ref subscription, ref node, typeSupportHandle, "/subscriber_test_topic", subscriptionOptions);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
}
public void PublisherPublish()
{
RCLReturnEnum ret;
rcl_publisher_t publisher = new rcl_publisher_t();
IntPtr publisherOptions = new IntPtr();
PublisherInitialize.InitPublisher(ref publisher, ref node, publisherOptions);
IMessageInternals msg = new std_msgs.msg.Bool();
ret = (RCLReturnEnum)NativeMethods.rcl_publish(ref publisher, msg.Handle);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
PublisherInitialize.ShutdownPublisher(ref publisher, ref node, publisherOptions);
}
public void PublisherPublish()
{
RCLReturnEnum ret;
rcl_publisher_t publisher = NativeMethods.rcl_get_zero_initialized_publisher();
rcl_publisher_options_t publisherOptions = NativeMethods.rcl_publisher_get_default_options();
std_msgs.msg.Bool msg = new std_msgs.msg.Bool();
IntPtr typeSupportHandle = msg.TypeSupportHandle;
ret = (RCLReturnEnum)NativeMethods.rcl_publisher_init(ref publisher, ref node, typeSupportHandle, "/publisher_test_topic", ref publisherOptions);
ret = (RCLReturnEnum)NativeMethods.rcl_publish(ref publisher, msg.Handle);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
ret = (RCLReturnEnum)NativeMethods.rcl_publisher_fini(ref publisher, ref node);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
}
public void SetSubscriptionQosProfile()
{
rcl_subscription_t subscription = NativeMethods.rcl_get_zero_initialized_subscription();
IntPtr subscriptionOptions = NativeMethods.rclcs_subscription_create_default_options();
NativeMethods.rclcs_subscription_set_qos_profile(subscriptionOptions, 0);
IMessageInternals msg = new std_msgs.msg.Bool();
IntPtr typeSupportHandle = msg.TypeSupportHandle;
NativeMethods.rcl_subscription_init(ref subscription, ref node, typeSupportHandle, "/subscriber_test_topic", subscriptionOptions);
Assert.That(NativeMethods.rcl_subscription_is_valid(ref subscription), Is.True);
NativeMethods.rcl_subscription_fini(ref subscription, ref node);
NativeMethods.rclcs_subscription_dispose_options(subscriptionOptions);
}
public void SetBoolData()
{
var msg = new std_msgs.msg.Bool();
var msgCopy = new std_msgs.msg.Bool();
msg.ReadNativeMessage();
Assert.That(msg.Data, Is.False);
msg.Data = true;
msg.WriteNativeMessage();
msgCopy.ReadNativeMessage(msg.Handle);
Assert.That(msgCopy.Data, Is.True);
msg.Data = false;
msg.WriteNativeMessage();
msgCopy.ReadNativeMessage(msg.Handle);
Assert.That(msgCopy.Data, Is.False);
}
public void CreateMessage()
{
std_msgs.msg.Bool msg = new std_msgs.msg.Bool();
}
public static void Copy(std_msgs.msg.Bool src, std_msgs.msg.Bool target)
{
target.Set(src);
}
public static void read(std_msgs.msg.Bool data, Halodi.CDR.CDRDeserializer cdr)
{
data.data = cdr.read_type_7();
}
public static void write(std_msgs.msg.Bool data, Halodi.CDR.CDRSerializer cdr)
{
cdr.write_type_7(data.data);
}
public static int getCdrSerializedSize(std_msgs.msg.Bool data)
{
return(getCdrSerializedSize(data, 0));
}
