public async Task SendAsync_MessageDispatcherStarted_WebSocketShouldSendCorrectByteArray()
{
//arrange
object message = new { Test = "testMessage" };
JObject jsonMessage = JObject.FromObject(message);
RosPublishMessage rosPublishMessage = new RosPublishMessage()
{
Id = _publisher._uniqueId,
Topic = TOPIC,
Message = jsonMessage
};
byte[] serialized = _messageSerializer.Serialize(rosPublishMessage);
_clientWebSocketMock.SetupGet(clientWebSocket => clientWebSocket.State).Returns(WebSocketState.Open);
await _messageDispatcher.StartAsync();
//act
await _publisher.PublishAsync(message);
//assert
_clientWebSocketMock.Verify(clientWebSocket => clientWebSocket.SendAsync(
It.Is <ArraySegment <byte> >(arraySegment => arraySegment.Array.SequenceEqual(serialized)),
WebSocketMessageType.Text,
true,
_cancellationTokenSource.Token));
}
private void RosbridgeMessageReceived(object sender, RosbridgeMessageReceivedEventArgs args)
{
if (null != args)
{
RosPublishMessage receivedPublishMessage = args.RosbridgeMessage.ToObject <RosPublishMessage>();
if (null != RosMessageReceived && null != receivedPublishMessage && !string.IsNullOrEmpty(receivedPublishMessage.Topic) && receivedPublishMessage.Topic.Equals(this.Topic))
{
TRosMessage receivedRosMessage = receivedPublishMessage.Message.ToObject <TRosMessage>();
RosMessageReceived(this, new RosMessageReceivedEventArgs <TRosMessage>(receivedRosMessage));
}
}
}
