public void ParseString(double x, double y, double heading)
{
foreach (string subString in FormattedStrings(x, y, heading))
{
PoseDto pose = PoseDtoFactory.ParseString(subString);
Assert.AreEqual(x, pose.X);
Assert.AreEqual(y, pose.Y);
Assert.AreEqual(heading, pose.Heading);
}
}
/// <summary>
/// Tries to parse the pose defined in poseString.
/// </summary>
/// <param name="poseString">E.g. 0.5,0.2,0.57 or x0.5,y0.2,h0.57</param>
/// <param name="poseDto">Parsed results</param>
/// <returns>True on success</returns>
public static bool TryParseString(string poseString, out PoseDto poseDto)
{
try
{
poseDto = ParseString(poseString);
}
catch (Exception ex)
{
poseDto = null;
}
return(poseDto != null);
}
public void CreateVirtual_NaNPose()
{
PoseDto pose = new PoseDto()
{
X = double.NaN,
Y = double.NaN,
Heading = double.NaN
};
IFleetManagerClient client = ClientFactory.CreateTcpFleetManagerClient(settings);
IServiceCallResult result = client.CreateVirtualVehicle("192.168.0.1", pose);
Assert.AreEqual(0, result.ServiceCode);
}
public void SetPose(double x, double y, double heading)
{
IFleetManagerClient client = ClientFactory.CreateTcpFleetManagerClient(settings);
PoseDto poseDto = new PoseDto()
{
X = x,
Y = y,
Heading = heading
};
var result = client.SetPose(IPAddress.Parse("192.0.2.5"), poseDto);
Assert.AreEqual(0, result.ServiceCode);
}
public void TestVirtual(string ipV4String)
{
IFleetManagerClient client = ClientFactory.CreateTcpFleetManagerClient(settings);
PoseDto poseDto = new PoseDto()
{
X = 0,
Y = 0,
Heading = 0
};
var result = client.CreateVirtualVehicle(IPAddress.Parse(ipV4String), poseDto);
Assert.AreEqual(0, result.ServiceCode);
}
public void CreateVirtual()
{
PoseDto pose = new PoseDto()
{
X = -3,
Y = -2,
Heading = 0
};
IPAddress ipAddress = IPAddress.Parse("192.0.2.5");
IFleetManagerClient client = ClientFactory.CreateTcpFleetManagerClient(settings);
var result = client.CreateVirtualVehicle(ipAddress, pose);
Assert.AreEqual(0, result.ServiceCode);
}
/// <summary>
/// Sets the pose of a vehicle.
/// </summary>
/// <param name="client">The fleet manager client to use.</param>
/// <param name="ipAddress">IPv4 address of target vehicle.</param>
/// <param name="x">X position in meters.</param>
/// <param name="y">Y position in meters.</param>
/// <param name="heading">Heading in radians.</param>
/// <returns>Successful service call result on success.</returns>
public static IServiceCallResult SetPose(this IFleetManagerClient client, IPAddress ipAddress, double x, double y, double heading)
{
if (client == null)
{
throw new ArgumentNullException("client");
}
if (ipAddress == null)
{
throw new ArgumentNullException("ipAddress");
}
PoseDto poseDto = new PoseDto()
{
X = x,
Y = y,
Heading = heading
};
return(client.SetPose(ipAddress, poseDto));
}
/// <summary>
/// Creates a new virtual vehicle.
/// </summary>
/// <param name="client">The fleet manager client to use.</param>
/// <param name="ipV4string">IPv4 address of the vehicle to be created.</param>
/// <param name="pose">The initialization pose.</param>
/// <returns></returns>
public static IServiceCallResult CreateVirtualVehicle(this IFleetManagerClient client, string ipV4string, PoseDto pose)
{
if (client == null)
{
throw new ArgumentNullException("client");
}
if (string.IsNullOrEmpty(ipV4string))
{
throw new ArgumentOutOfRangeException("ipV4string");
}
if (pose == null)
{
throw new ArgumentNullException("pose");
}
IPAddress ipAddress = IPAddress.Parse(ipV4string);
return(client.CreateVirtualVehicle(ipAddress, pose));
}
public IServiceCallResult CreateVirtualVehicle(IPAddress ipAddress, PoseDto pose)
{
Logger.Trace("CreateVirtualVehicle");
return(HandleAPICall(e => e.CreateVirtualVehicle(ipAddress, pose)));
}
public IServiceCallResult SetPose(IPAddress ipAddress, PoseDto pose)
{
Logger.Trace("SetPose");
return(HandleAPICall(e => e.SetPose(ipAddress, pose)));
}
