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);
}
public void DeleteParam_Success()
{
var result = new object[3]
{
1,
"parameter /test_param deleted",
0
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MParameterServerProxy.AllInstances.BeginDeleteParamStringStringAsyncCallbackObject= (t1, t2, t3, t4, t5) => { t4(null); return null; };
MParameterServerProxy.AllInstances.EndDeleteParamIAsyncResult= (t1, t2) => result;
var client = new ParameterServerClient(new Uri("http://localhost"));
client.DeleteParamAsync("test", "test_param").Wait();
}
public void DeleteParam_NotSet()
{
var result = new object[3]
{
-1,
"parameter [/aaa] is not set",
0
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MParameterServerProxy.AllInstances.BeginDeleteParamStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5) => { t4(null); return null; };
MParameterServerProxy.AllInstances.EndDeleteParamIAsyncResult = (t1, t2) => result;
var client = new ParameterServerClient(new Uri("http://localhost"));
var ex = AssertEx.Throws<AggregateException>(
() => client.DeleteParamAsync("test", "aaa").Wait());
ex.InnerException.Message.Is("parameter [/aaa] is not set");
}
public void GetParamNames_Success()
{
var result = new object[3]
{
1,
"Parameter names",
new string[4]
{
"/roslaunch/uris/host_192_168_11_6__51664",
"/rosversion",
"/rosdistro",
"/run_id"
}
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MParameterServerProxy.AllInstances.BeginGetParamNamesStringAsyncCallbackObject = (t1, t2, t3, t4) => { t3(null); return null; };
MParameterServerProxy.AllInstances.EndGetParamNamesIAsyncResult= (t1, t2) => result;
var client = new ParameterServerClient(new Uri("http://localhost"));
client.GetParamNamesAsync("test").Result.Is(
new string[] {"/roslaunch/uris/host_192_168_11_6__51664","/rosversion","/rosdistro","/run_id"});
}
Task IParameter.InitializeAsync(string nodeId, string paramName, Uri slaveUri, ParameterServerClient client)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
Name = paramName;
_slaveUri = slaveUri;
_parameterServerClient = client;
return(_parameterServerClient.HasParamAsync(NodeId, Name)
.ContinueWith(task =>
{
if (task.Result)
{
return _parameterServerClient.GetParamAsync(NodeId, Name);
}
else
{
return _parameterServerClient.SetParamAsync(NodeId, Name, new XmlRpcStruct());
}
})
.Unwrap());
}
public void UnsubscribeParam_Success()
{
var result = new object[3]
{
1,
"Unsubscribe to parameter [/rosversion]",
1
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MParameterServerProxy.AllInstances.BeginUnsubscribeParamStringStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5, t6) => { t5(null); return null; };
MParameterServerProxy.AllInstances.EndUnsubscribeParamIAsyncResult= (t1, t2) => result;
var client = new ParameterServerClient(new Uri("http://localhost"));
client.UnsubscribeParamAsync("test", new Uri("http://localhost:11311"), "rosversion").Result.Is(1);
}
public void SetParam_Success()
{
var result = new object[3]
{
1,
"Parameter [/rosversion]",
"1.6.5"
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MParameterServerProxy.AllInstances.BeginSetParamStringStringObjectAsyncCallbackObject = (t1, t2, t3, t4, t5, t6) => { t5(null); return null; };
MParameterServerProxy.AllInstances.EndSetParamIAsyncResult= (t1, t2) => result;
var client = new ParameterServerClient(new Uri("http://localhost"));
client.SetParamAsync("test", "/test_param", 1234).Wait();
}
public void SearchParam_Failure()
{
var result = new object[3]
{
0,
"Internal failure: namespace must be global",
0
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MParameterServerProxy.AllInstances.BeginSearchParamStringStringAsyncCallbackObject= (t1, t2, t3, t4, t5) => { t4(null); return null; };
MParameterServerProxy.AllInstances.EndSearchParamIAsyncResult= (t1, t2) => result;
var client = new ParameterServerClient(new Uri("http://localhost"));
var ex = AssertEx.Throws<AggregateException>(
() => client.SearchParamAsync("test", "rosversion").Wait());
ex.InnerException.Message.Is("Internal failure: namespace must be global");
}
public void HasParam_SuccessTrue()
{
var result = new object[3]
{
1,
"/rosversion",
true
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MParameterServerProxy.AllInstances.BeginHasParamStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5) => { t4(null); return null; };
MParameterServerProxy.AllInstances.EndHasParamIAsyncResult= (t1, t2) => result;
var client = new ParameterServerClient(new Uri("http://localhost"));
client.HasParamAsync("test", "/rosversion").Result.Is(true);
}
public void GetParam_SuccessList()
{
// > rosparam set /foo "['1', 1, 1.0]"
var result = new object[3]
{
1,
"Parameter [/foo]",
new object[3]
{
"1",
1,
1.0
}
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MParameterServerProxy.AllInstances.BeginGetParamStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5) => { t4(null); return null; };
MParameterServerProxy.AllInstances.EndGetParamIAsyncResult = (t1, t2) => result;
var client = new ParameterServerClient(new Uri("http://localhost"));
var ret = client.GetParamAsync("test", "foo").Result as object[];
ret[0].Is("1");
ret[1].Is(1);
ret[2].Is(1.0);
}
public void GetParam_SuccessDictionary()
{
// rosparam set /gains "p: 1.0
// i: 1.0
// d: 1.0"
var result = new object[3]
{
1,
"Parameter [/gains]",
new object[3]
{
"1",
1,
1.0
}
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MParameterServerProxy.AllInstances.BeginGetParamStringStringAsyncCallbackObject = (t1, t2, t3, t4, t5) => { t4(null); return null; };
MParameterServerProxy.AllInstances.EndGetParamIAsyncResult = (t1, t2) => result;
var client = new ParameterServerClient(new Uri("http://localhost"));
client.GetParamAsync("test", "gains").Wait();
}
