public void TestMultipleBags()
{
var bag = new RosBag("TestBags");
Assert.AreEqual(bag.TopicList.Count, 2);
string[] expectedTopicList = { "/usb_cam/image_raw", "/usb_cam/image_raw/compressed" };
CollectionAssert.AreEqual(bag.TopicList.OrderBy(x => x).ToList(), expectedTopicList.OrderBy(x => x).ToList());
Assert.AreEqual(bag.MessageCounts["/usb_cam/image_raw"], 24);
}
public void TestSimpleRosBag()
{
var pathToFile = "psi_simple.bag";
var bag = new RosBag(pathToFile);
// validate the bag information
Assert.AreEqual(bag.TopicList.Count, 2);
string[] expectedTopicList = { "/rosout", "/text" };
CollectionAssert.AreEqual(bag.TopicList, expectedTopicList);
Assert.AreEqual(bag.MessageCounts["/text"], 56);
int index = 3;
var textOutput = bag.ReadTopic("/text");
foreach (var output in textOutput)
{
Assert.AreEqual(output.GetField("data"), $"Hello {index}");
index++;
}
}
