Exemplo n.º 1
0
        public void Initialize()
        {
            Ros.MasterUri = new Uri("http://localhost:11311/");
            Ros.HostName = "localhost";
            Ros.TopicTimeout = 1000;
            Ros.XmlRpcTimeout = 1000;

            _masterServer = new MasterServer(11311);

            _masterClient = new MasterClient(_masterServer.MasterUri);
            _parameterServerClient = new ParameterServerClient(_masterServer.MasterUri);
        }
Exemplo n.º 2
0
        public void GetSystemState_ParameterError()
        {
            var result = new object[3]
                        {
                            -1,
                            "caller_id must be a string",
                            new object[3] {new object[0], new object[0], new object[0]}
                        };
            MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
            MMasterProxy.AllInstances.BeginGetSystemStateStringAsyncCallbackObject = (t1, t2, t3, t4) => { t3(null); return null; };
            MMasterProxy.AllInstances.EndGetSystemStateIAsyncResult = (t1, t2) => result;

            var client = new MasterClient(new Uri("http://localhost"));
            var ex = AssertEx.Throws<AggregateException>(() => client.GetSystemStateAsync(null).Wait());
            ex.InnerException.Message.Is("caller_id must be a string");
        }
Exemplo n.º 3
0
        public void UnregisterService_Success()
        {
            var result = new object[3]
            {
                1,
                "Unregistered [/test] as provider of [/myservice]",
                1
            };

            MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
            MMasterProxy.AllInstances.BeginUnregisterServiceStringStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5, t6) => { t5(null); return null; };
            MMasterProxy.AllInstances.EndUnregisterServiceIAsyncResult = (t1, t2) => result;

            var client = new MasterClient(new Uri("http://localhost"));

            client.UnregisterServiceAsync("/test", "/myservice", new Uri("http://localhost")).Result.Is(1);
        }
Exemplo n.º 4
0
        public void GetSystemState_Success()
        {
            var result = new object[3]
            {
                1,
                "current system state",
                new object[3][][]{
                    new object[3][]{
                        new object[2]{
                            "/chatter",
                            new string[1]{
                                "/rosjava_tutorial_pubsub/talker"
                            }
                        },
                        new object[2]{
                            "/rosout",
                            new string[2]{
                                "/rosjava_tutorial_pubsub/listener",
                                "/rosjava_tutorial_pubsub/talker"
                            }
                        },
                        new object[2]{
                            "/rosout_agg",
                            new string[1]{
                                "/rosout"
                            }
                        }
                    },
                    new object[2][]{
                        new object[2]{
                            "/chatter",
                            new string[1]{
                                "/rosjava_tutorial_pubsub/listener"
                            }
                        },
                        new object[2]{
                            "/rosout",
                            new string[1]{
                                "/rosout"
                            }
                        }
                    },
                    new object[2][]{
                        new object[2]{
                            "/rosout/set_logger_level",
                            new string[1]{
                                "/rosout"
                            }
                        },
                        new object[2]{
                            "/rosout/get_loggers",
                            new string[1]{
                                "/rosout"
                            }
                        }
                    }
                }
            };

            MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
            MMasterProxy.AllInstances.BeginGetSystemStateStringAsyncCallbackObject = (t1, t2, t3, t4) => { t3(null); return null; };
            MMasterProxy.AllInstances.EndGetSystemStateIAsyncResult = (t1, t2) => result;

            var client = new MasterClient(new Uri("http://localhost"));

            var ret = client.GetSystemStateAsync("/test").Result;
            ret.Publishers.Count.Is(3);
            ret.Subscribers.Count.Is(2);
            ret.Services.Count.Is(2);
        }
Exemplo n.º 5
0
        public void UnregisterService_ParameterError()
        {
            var result = new object[3]
            {
                -1,
                "ERROR: parameter [service] must be a non-empty string",
                0
            };

            MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
            MMasterProxy.AllInstances.BeginUnregisterServiceStringStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5, t6) => { t5(null); return null; };
            MMasterProxy.AllInstances.EndUnregisterServiceIAsyncResult = (t1, t2) => result;

            var client = new MasterClient(new Uri("http://localhost"));

            var ex = AssertEx.Throws<AggregateException>(() => client.UnregisterServiceAsync("/test", "/myservice", new Uri("http://localhost")).Wait());
            ex.InnerException.Message.Is("ERROR: parameter [service] must be a non-empty string");
        }
Exemplo n.º 6
0
        public void RegisterSubscriber_Success()
        {
            var result = new object[3]
            {
                1,
                "Subscribed to [/topic1]",
                new object[0]
            };

            MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
            MMasterProxy.AllInstances.BeginRegisterSubscriberStringStringStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5, t6, t7) => { t6(null); return null; };
            MMasterProxy.AllInstances.EndRegisterSubscriberIAsyncResult = (t1, t2) => result;

            var client = new MasterClient(new Uri("http://localhost"));

            client.RegisterSubscriberAsync("/test", "topic1", "std_msgs/String", new Uri("http://192.168.11.2:11112")).Wait();
        }
Exemplo n.º 7
0
        public void RegisterSubscriber_ParameterError()
        {
            var result = new object[3]
            {
                -1,
                "ERROR: parameter [topic_type] is not a valid package resource name",
                0
            };

            MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
            MMasterProxy.AllInstances.BeginRegisterSubscriberStringStringStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5, t6, t7) => { t6(null); return null; };
            MMasterProxy.AllInstances.EndRegisterSubscriberIAsyncResult= (t1, t2) => result;

            var client = new MasterClient(new Uri("http://localhost"));

            var ex = AssertEx.Throws<AggregateException>(() => client.RegisterSubscriberAsync("/test", "topic1", "topicType", new Uri("http://192.168.11.2:11112")).Wait());
            ex.InnerException.Message.Is("ERROR: parameter [topic_type] is not a valid package resource name");
        }
Exemplo n.º 8
0
        public void RegisterService_Success()
        {
            var result = new object[3]
            {
                StatusCode.Success,
                "Registered [/test] as provider of [/myservice]",
                1
            };

            MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
            MMasterProxy.AllInstances.BeginRegisterServiceStringStringStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5, t6, t7) => { t6(null); return null; };
            MMasterProxy.AllInstances.EndRegisterServiceIAsyncResult= (t1, t2) => result;

            var client = new MasterClient(new Uri("http://localhost"));

            client.RegisterServiceAsync("/test", "/myservice", new Uri("http://192.168.11.2:11112"), new Uri("http://192.168.11.2:11111")).Wait();
        }
Exemplo n.º 9
0
        public void LookupService_Success()
        {
            var result = new object[3]
            {
                1,
                "rosrpc URI: [rosrpc://192.168.11.5:37171]",
                "rosrpc://192.168.11.5:37171"
            };

            MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
            MMasterProxy.AllInstances.BeginLookupServiceStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5) => { t4(null); return null; };
            MMasterProxy.AllInstances.EndLookupServiceIAsyncResult = (t1, t2) => result;

            var client = new MasterClient(new Uri("http://localhost"));

            client.LookupServiceAsync("/test", "/service_test").Result.Is(new Uri("rosrpc://192.168.11.5:37171"));
        }
Exemplo n.º 10
0
        public void LookupService_NoProvider()
        {
            var result = new object[3]
            {
                -1,
                "no provider",
                ""
            };

            MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
            MMasterProxy.AllInstances.BeginLookupServiceStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5) => { t4(null); return null; };
            MMasterProxy.AllInstances.EndLookupServiceIAsyncResult = (t1, t2) => result;

            var client = new MasterClient(new Uri("http://localhost"));

            var ex = AssertEx.Throws<AggregateException>(() => client.LookupServiceAsync("/test", "/service_test").Wait());
            ex.InnerException.Message.Is("no provider");
        }
Exemplo n.º 11
0
        public void LookupNode_Success()
        {
            var result = new object[3]
            {
                1,
                "node api",
                "http://192.168.11.4:59511/"
            };

            MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
            MMasterProxy.AllInstances.BeginLookupNodeStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5) => { t4(null); return null; };
            MMasterProxy.AllInstances.EndLookupNodeIAsyncResult = (t1, t2) => result;

            var client = new MasterClient(new Uri("http://localhost"));

            client.LookupNodeAsync("/test", "/rosout").Result.Is(new Uri("http://192.168.11.4:59511/"));
        }
Exemplo n.º 12
0
        public void GetUri_Success()
        {
            var result = new object[3]
            {
                1,
                "",
                "http://192.168.11.4:11311/"
            };

            MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
            MMasterProxy.AllInstances.BeginGetUriStringAsyncCallbackObject = (t1, t2, t3, t4) => { t3(null); return null; };
            MMasterProxy.AllInstances.EndGetUriIAsyncResult= (t1, t2) => result;

            var client = new MasterClient(new Uri("http://localhost"));

            client.GetUriAsync("/test").Result.Is(new Uri("http://192.168.11.4:11311/"));
        }