public void TestTransformStampedMessage()
{
Assert.True(BuiltIns.GetMessageType <MyTransformStamped>() == MyTransformStamped.RosMessageType);
Assert.True(BuiltIns.GetMd5Sum <MyTransformStamped>() == BuiltIns.GetMd5Sum <TransformStamped>());
time now = time.Now();
TransformStamped real = new TransformStamped()
{
Header = new Header(1, now, "Frame"),
ChildFrameId = "Abcd",
Transform = Transform.Identity
};
MyTransformStamped wrapped = new MyTransformStamped()
{
Header = new Header(1, now, "Frame"),
ChildFrameId = "Abcd",
Transform = Transform.Identity
};
byte[] messageBytes = real.SerializeToArray();
byte[] otherMessageBytes = wrapped.SerializeToArray();
Assert.True(messageBytes.SequenceEqual(otherMessageBytes));
var otherWrapped = wrapped.DeserializeFromArray(messageBytes);
Assert.True(wrapped.Header == real.Header);
Assert.True(wrapped.ChildFrameId == real.ChildFrameId);
Assert.True(wrapped.Transform == real.Transform);
}
public ServiceInfo(string callerId, string service, T?generator = default)
: this(
callerId, service,
BuiltIns.GetMd5Sum <T>(),
BuiltIns.GetServiceType <T>(),
generator
)
{
}
public TopicInfo(string callerId, string topic, IDeserializable <T> generator)
: this(
BuiltIns.DecompressDependencies(generator.GetType()),
callerId, topic,
BuiltIns.GetMd5Sum(generator.GetType()),
BuiltIns.GetMessageType(generator.GetType()),
generator
)
{
}
public TopicInfo(string callerId, string topic)
: this(
BuiltIns.DecompressDependencies <T>(),
callerId, topic,
BuiltIns.GetMd5Sum <T>(),
BuiltIns.GetMessageType <T>(),
null
)
{
}
public void TestInteractiveMarkerMessage()
{
Assert.True(BuiltIns.GetMessageType(typeof(MyInteractiveMarker)) == MyInteractiveMarker.RosMessageType);
Console.WriteLine(MyInteractiveMarker.RosDefinition);
Assert.True(
BuiltIns.GetMd5Sum(typeof(MyInteractiveMarker)) == BuiltIns.GetMd5Sum(typeof(InteractiveMarker)));
time now = time.Now();
var real = new InteractiveMarker()
{
Pose = Pose.Identity,
Name = "Abcd",
Description = "Efgh",
MenuEntries = new MenuEntry[] { new(), new() },