static void Main(string[] args)
{
UDPReceiver rec = new UDPReceiver(new Uri("udp://172.16.0.169:9999"), 256);
//UDPReceiver rec = new UDPReceiver(new Uri("udp://239.255.0.1:9650"), 256);
rec.Start();
Console.WriteLine("Enter finish to end");
Console.ReadLine();
rec.Close();
rec.Dispose();
}
public void TestPublishPacket1()
{
object key = new object();
UDPReceiver rec = new UDPReceiver(new Uri("udp://" + Host + ":" + Port), 1024);
rec.MessageReceived += (s, m) =>
{
Message msg = m.Message;
Debug.WriteLine("New Message has arrived from {0}", m.Session.RemoteEndPoint);
Debug.WriteLine("Message Header: {0}", msg.Header);
Assert.AreEqual(ProtocolId.PROTOCOL_RTPS, msg.Header.Protocol);
Assert.AreEqual(VendorId.OCI, msg.Header.VendorId);
Assert.AreEqual(new byte[] { 0, 1, 3, 0, 0, 1, 0x23, 0x45, 0x67, 0x89, 0xab, 0xcd, 0xef }, msg.Header.GuidPrefix.Prefix);
Assert.AreEqual(ProtocolVersion.PROTOCOLVERSION_2_1, msg.Header.Version);
Assert.AreEqual(2, msg.SubMessages.Count);
foreach (var submsg in msg.SubMessages)
{
Debug.WriteLine("SubMessage: {0}", submsg);
switch (submsg.Kind)
{
case SubMessageKind.DATA:
Data d = submsg as Data;
foreach (var par in d.InlineQos.Value)
Debug.WriteLine("InlineQos: {0}", par);
break;
case SubMessageKind.INFO_TS:
InfoTimestamp its = submsg as InfoTimestamp;
Debug.WriteLine("The TimeStampFlag value state is: {0}", its.HasInvalidateFlag);
Debug.WriteLine("The EndiannessFlag value state is: {0}", its.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", its.Header.SubMessageLength);
if (its.HasInvalidateFlag == false)
{
Debug.WriteLine("The Timestamp value is: {0}", its.TimeStamp);
}
break;
default:
Assert.Fail("Only Timestamp and Data submesages are expected");
break;
}
}
lock (key) Monitor.Pulse(key);
};
rec.Start();
simulator.SendUDPPacket("SamplePackets/packet01.dat", Host, Port);
lock (key)
{
Assert.IsTrue(Monitor.Wait(key, 10000), "Time-out. Message has not arrived or there is an error on it.");
}
rec.Close();
}
public void TestPublishData()
{
object key = new object();
UDPReceiver rec = new UDPReceiver(new Uri("udp://" + Host + ":" + Port), 1024);
rec.MessageReceived += (s, m) =>
{
Message msg = m.Message;
Debug.WriteLine("New Message has arrived from {0}", m.Session.RemoteEndPoint);
Debug.WriteLine("Message Header: {0}", msg.Header);
Assert.AreEqual(ProtocolId.PROTOCOL_RTPS, msg.Header.Protocol);
Assert.AreEqual(VendorId.OCI, msg.Header.VendorId);
Assert.AreEqual(ProtocolVersion.PROTOCOLVERSION_2_1, msg.Header.Version);
Assert.AreEqual(2, msg.SubMessages.Count);
foreach (var submsg in msg.SubMessages)
{
Debug.WriteLine("SubMessage: {0}", submsg);
if (submsg is Data)
{
Data d = submsg as Data;
foreach (var par in d.InlineQos.Value)
Debug.WriteLine("InlineQos: {0}", par);
}
}
lock (key) Monitor.Pulse(key);
};
rec.Start();
simulator.SendUDPPacket("SamplePackets/packet1.dat", Host, Port);
lock (key)
{
Assert.IsTrue(Monitor.Wait(key, 1000), "Time-out. Message has not arrived or there is an error on it.");
}
rec.Close();
}
public void TesOpenDDS_rtps_reliability_runtest_localPacket03()
{
object key = new object();
UDPReceiver rec = new UDPReceiver(new Uri("udp://" + Host + ":" + Port), 1024);
rec.MessageReceived += (s, m) =>
{
Message msg = m.Message;
Debug.WriteLine("New Message has arrived from {0}", m.Session.RemoteEndPoint);
Debug.WriteLine("Message Header: {0}", msg.Header);
Assert.AreEqual(ProtocolId.PROTOCOL_RTPS.ToString(), msg.Header.Protocol.ToString());
Debug.WriteLine("The Header Protocol is: {0}", msg.Header.Protocol);
Assert.AreEqual(ProtocolVersion.PROTOCOLVERSION_2_1.ToString(), msg.Header.Version.ToString());
Debug.WriteLine("The Protocol Version value state is: {0}", msg.Header.Version);
Assert.AreEqual(VendorId.OCI.ToString(), msg.Header.VendorId.ToString());
Debug.WriteLine("The VendorId value state is: {0}", msg.Header.VendorId);
Assert.AreEqual("01-03-08-00-27-B9-29-47-0A-AF-00-01", msg.Header.GuidPrefix.ToString());
Debug.WriteLine("The guidPrefix value state is: {0}", msg.Header.GuidPrefix);
Assert.AreEqual(2, msg.SubMessages.Count);
Debug.WriteLine("The number of SubMessages in the message is: {0}", msg.SubMessages.Count);
foreach (var submsg in msg.SubMessages)
{
Debug.WriteLine("SubMessage: {0}", submsg.Kind);
switch (submsg.Kind)
{
case SubMessageKind.INFO_DST:
{
InfoDestination d = submsg as InfoDestination;
Assert.AreEqual(true, d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Assert.AreEqual(12, d.Header.SubMessageLength);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Assert.AreEqual("01-03-08-00-27-B9-29-47-0A-AF-00-00", d.GuidPrefix.ToString());
Debug.WriteLine("The guidPrefix value is: {0}", d.GuidPrefix);
break;
}
case SubMessageKind.ACKNACK:
{
AckNack d = submsg as AckNack;
Assert.AreEqual(true, d.HasFinalFlag);
Debug.WriteLine("The FinalFlag value state is: {0}", d.HasFinalFlag);
Assert.AreEqual(true, d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Assert.AreEqual(0, d.ReaderId.EntityKey0);
Assert.AreEqual(1, d.ReaderId.EntityKey1);
Assert.AreEqual(5, d.ReaderId.EntityKey2);
Debug.WriteLine("The readerIDEntityKey is: {0}-{1}-{2}", d.ReaderId.EntityKey0, d.ReaderId.EntityKey1, d.ReaderId.EntityKey2);
Assert.AreEqual(7, (int)d.ReaderId.TypeID);
Debug.WriteLine("The readerIDEntityKind value is: {0} ", (int)d.ReaderId.TypeID);
Assert.AreEqual(0, d.WriterId.EntityKey0);
Assert.AreEqual(1, d.WriterId.EntityKey1);
Assert.AreEqual(2, d.WriterId.EntityKey2);
Debug.WriteLine("The writerID is: {0}-{1}-{2}", d.WriterId.EntityKey0, d.WriterId.EntityKey1, d.WriterId.EntityKey2);
Assert.AreEqual(2, (int)d.WriterId.TypeID);
Debug.WriteLine("The writerIDEntityKind value is:{0} ", (int)d.WriterId.TypeID);
Assert.AreEqual("2", d.ReaderSNState.BitmapBase.ToString());
Assert.AreEqual(1, d.ReaderSNState.NumBits);
Assert.AreEqual(0, d.ReaderSNState.Bitmaps[0]);
Debug.WriteLine("The readerSNState is: {0}", d.ReaderSNState);
Debug.WriteLine("The Count is: {0}", d.Count);
break;
}
}
}
lock (key) Monitor.Pulse(key);
};
rec.Start();
simulator.SendUDPPacket("SamplePackets/TestOpenDDS_rtps_reliability_runtest_local/Packet03.dat", Host, Port);
lock (key)
{
Assert.IsTrue(Monitor.Wait(key, 1000), "Time-out. Message has not arrived or there is an error on it.");
}
rec.Close();
}
public void TesOpenDDS_rtps_reliability_runtest_localPacket01()
{
object key = new object();
UDPReceiver rec = new UDPReceiver(new Uri("udp://" + Host + ":" + Port), 1024);
rec.MessageReceived += (s, m) =>
{
Message msg = m.Message;
Debug.WriteLine("New Message has arrived from {0}", m.Session.RemoteEndPoint);
Debug.WriteLine("Message Header: {0}", msg.Header);
Assert.AreEqual(ProtocolId.PROTOCOL_RTPS.ToString(), msg.Header.Protocol.ToString());
Debug.WriteLine("The Header Protocol is: {0}", msg.Header.Protocol);
Assert.AreEqual(ProtocolVersion.PROTOCOLVERSION_2_1.ToString(), msg.Header.Version.ToString());
Debug.WriteLine("The Protocol Version value state is: {0}", msg.Header.Version);
Assert.AreEqual(VendorId.OCI.ToString(), msg.Header.VendorId.ToString());
Debug.WriteLine("The VendorId value state is: {0}", msg.Header.VendorId);
Assert.AreEqual("01-03-08-00-27-B9-29-47-0A-AF-00-00", msg.Header.GuidPrefix.ToString());
Debug.WriteLine("The guidPrefix value state is: {0}", msg.Header.GuidPrefix);
Assert.AreEqual(1, msg.SubMessages.Count);
Debug.WriteLine("The number of SubMessages in the message is: {0}", msg.SubMessages.Count);
foreach (var submsg in msg.SubMessages)
{
Assert.AreEqual(SubMessageKind.DATA, submsg.Kind );
Debug.WriteLine("SubMessage: {0}", submsg.Kind);
switch (submsg.Kind)
{
case SubMessageKind.DATA:
{
Data d = submsg as Data;
Assert.AreEqual(false, d.HasKeyFlag);
Debug.WriteLine("The KeyFlag value state is: {0}", d.HasKeyFlag);
Assert.AreEqual(true, d.HasDataFlag);
Debug.WriteLine("The DataFlag value state is: {0}", d.HasDataFlag);
Assert.AreEqual(false, d.HasInlineQosFlag);
Debug.WriteLine("The InlineQoSFlag value state is: {0}", d.HasInlineQosFlag);
Assert.AreEqual(true, d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Assert.AreEqual(0, d.Header.SubMessageLength);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Assert.AreEqual(0, d.ExtraFlags .Value);
Debug.WriteLine("The extraFlags value is: {0}", d.ExtraFlags.Value);
Debug.WriteLine("The octetsToInlineQos value is: ");
Assert.AreEqual(0, d.ReaderId.EntityKey0);
Assert.AreEqual(0, d.ReaderId.EntityKey1);
Assert.AreEqual(0, d.ReaderId.EntityKey2);
Debug.WriteLine("The readerIDEntityKey is: {0}-{1}-{2}", d.ReaderId.EntityKey0,d.ReaderId.EntityKey1,d.ReaderId.EntityKey2);
Assert.AreEqual(0,(int) d.ReaderId.TypeID);
Debug.WriteLine("The readerIDEntityKind value is: {0} ",(int)d.ReaderId.TypeID);
Assert.AreEqual(0, d.WriterId.EntityKey0);
Assert.AreEqual(1, d.WriterId.EntityKey1);
Assert.AreEqual(2, d.WriterId.EntityKey2);
Debug.WriteLine("The writerID is: {0}-{1}-{2}", d.WriterId.EntityKey0, d.WriterId.EntityKey1, d.WriterId.EntityKey2);
Assert.AreEqual(2, (int)d.WriterId.TypeID);
Debug.WriteLine("The writerIDEntityKind value is:{0} ",(int) d.WriterId.TypeID);
Assert.AreEqual("1", d.WriterSN.ToString());
Debug.WriteLine("The writerSN is: {0}", d.WriterSN);
if (d.HasInlineQosFlag)
{
/*foreach (var par in d.InlineQos.Value)
{
Debug.WriteLine("InlineQos: {0}", par);
}*/
}
if (d.HasDataFlag || d.Header.Flags.IsLittleEndian)
{
for (int i = 0; i <= d.SerializedPayload.DataEncapsulation.SerializedPayload.Length - 1; i++)
{
Debug.WriteLine("SerializedPayload: {0}", d.SerializedPayload.DataEncapsulation.SerializedPayload.GetValue(i));
}
}
break;
}
}
}
lock (key) Monitor.Pulse(key);
};
rec.Start();
simulator.SendUDPPacket("SamplePackets/TestOpenDDS_rtps_reliability_runtest_local/Packet01.dat", Host, Port);
lock (key)
{
Assert.IsTrue(Monitor.Wait(key, 10000), "Time-out. Message has not arrived or there is an error on it.");
}
rec.Close();
}
public void GeneralRTPSMessageTesterMethod()
{
object key = new object();
UDPReceiver rec = new UDPReceiver(new Uri("udp://" + Host + ":" + Port), 1024);
rec.MessageReceived += (s, m) =>
{
Message msg = m.Message;
Debug.WriteLine("New Message has arrived from {0}", m.Session.RemoteEndPoint);
Debug.WriteLine("Message Header: {0}", msg.Header);
Assert.AreEqual(ProtocolId.PROTOCOL_RTPS, msg.Header.Protocol);
Debug.WriteLine("The Header Protocol is: {0}", msg.Header.Protocol);
Assert.AreEqual(VendorId.OCI, msg.Header.VendorId);
Debug.WriteLine("The VendorId value state is: {0}", msg.Header.VendorId);
Assert.AreEqual(ProtocolVersion.PROTOCOLVERSION_2_1, msg.Header.Version);
Debug.WriteLine("The Protocol Version value state is: {0}", msg.Header.Version);
Debug.WriteLine("The number of SubMessages in the message is: {0}", msg.SubMessages.Count);
//Assert.AreEqual(2, msg.SubMessages.Count);
foreach (var submsg in msg.SubMessages)
{
Debug.WriteLine("SubMessage: {0}", submsg.Kind);
switch (submsg.Kind)
{
case SubMessageKind.DATA:
{
Data d = submsg as Data;
Debug.WriteLine("The KeyFlag value state is: {0}", d.HasKeyFlag);
Debug.WriteLine("The DataFlag value state is: {0}", d.HasDataFlag);
Debug.WriteLine("The InlineQoSFlag value state is: {0}", d.HasInlineQosFlag);
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Debug.WriteLine("The extraFlags value is: {0}", d.ExtraFlags.Value);
Debug.WriteLine("The octetsToInlineQos value is: Aun no logro");
Debug.WriteLine("The readerID is: {0}", d.ReaderId);
Debug.WriteLine("The writerID is: {0}", d.WriterId);
Debug.WriteLine("The writerSN is: {0}", d.WriterSN);
if (d.HasInlineQosFlag)
{
foreach (var par in d.InlineQos.Value)
{
Debug.WriteLine("InlineQos: {0}", par);
}
}
if (d.HasDataFlag || d.Header.Flags.IsLittleEndian)
{
for (int i = 0; i <= d.SerializedPayload.DataEncapsulation.SerializedPayload.Length - 1; i++)
{
Debug.WriteLine("SerializedPayload: {0}", d.SerializedPayload.DataEncapsulation.SerializedPayload.GetValue(i));
}
}
break;
}
case SubMessageKind.ACKNACK:
{
AckNack d = submsg as AckNack;
Debug.WriteLine("The FinalFlag value state is: {0}", d.HasFinalFlag);
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Debug.WriteLine("The readerID is: {0}", d.ReaderId);
Debug.WriteLine("The writerID is: {0}", d.WriterId);
Debug.WriteLine("The readerSNState is: {0}", d.ReaderSNState);
Debug.WriteLine("The Count is: {0}", d.Count);
break;
}
case SubMessageKind.NACK_FRAG:
{
NackFrag d = submsg as NackFrag;
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Debug.WriteLine("The readerID is: {0}", d.ReaderId);
Debug.WriteLine("The writerID is: {0}", d.WriterId);
Debug.WriteLine("The writerSN is: {0}", d.WriterSequenceNumber);
Debug.WriteLine("The fragmentNumberState value is: {0}", d.FragmentNumberState);
break;
}
case SubMessageKind.DATA_FRAG:
{
DataFrag d = submsg as DataFrag;
Debug.WriteLine("The KeyFlag value state is: {0}", d.HasKeyFlag);
Debug.WriteLine("The InlineQoSFlag value state is: {0}", d.HasInlineQosFlag);
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Debug.WriteLine("The extraFlags value is: {0}", d.ExtraFlags);
Debug.WriteLine("The octetsToInlineQos value is: Aun no logro");
Debug.WriteLine("The readerID is: {0}", d.ReaderId);
Debug.WriteLine("The writerID is: {0}", d.WriterId);
Debug.WriteLine("The writerSN is: {0}", d.WriterSequenceNumber);
Debug.WriteLine("The FragmentNumber is: {0}", d.FragmentStartingNumber);
Debug.WriteLine("The fragmentsInSubmessage is: {0}", d.FragmentsInSubmessage);
Debug.WriteLine("The samplesize is: {0}", d.SampleSize);
if (d.HasInlineQosFlag)
{
foreach (var par in d.ParameterList.Value)
{
Debug.WriteLine("InlineQos: {0}", par);
}
}
for (int i = 0; i <= d.SerializedPayload.Length - 1; i++)
{
Debug.WriteLine("SerializedPayload: {0}", d.SerializedPayload.GetValue(i));
}
break;
}
case SubMessageKind.GAP:
{
Gap d = submsg as Gap;
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Debug.WriteLine("The readerID is: {0}", d.ReaderId);
Debug.WriteLine("The writerID is: {0}", d.WriterId);
Debug.WriteLine("The GapStart number is: {0}", d.GapStart);
Debug.WriteLine("The GapList value is: {0}", d.GapList);
break;
}
case SubMessageKind.HEARTBEAT:
{
Heartbeat d = submsg as Heartbeat;
Debug.WriteLine("The LivelinessFlag value state is: {0}", d.HasLivelinessFlag);
Debug.WriteLine("The FinalFlag value state is: {0}", d.HasFinalFlag);
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Debug.WriteLine("The readerID is: {0}", d.ReaderId);
Debug.WriteLine("The writerID is: {0}", d.WriterId);
Debug.WriteLine("The firstSN is: {0}", d.FirstSequenceNumber);
Debug.WriteLine("The lastSN is: {0}", d.LastSequenceNumber);
Debug.WriteLine("The Count is: {0}", d.Count);
break;
}
case SubMessageKind.HEARTBEAT_FRAG:
{
HeartbeatFrag d = submsg as HeartbeatFrag;
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Debug.WriteLine("The readerID is: {0}", d.ReaderId);
Debug.WriteLine("The writerID is: {0}", d.WriterId);
Debug.WriteLine("The writerSN is: {0}", d.WriterSequenceNumber);
Debug.WriteLine("The FragmentNumber is: {0}", d.LastFragmentNumber);
Debug.WriteLine("The Count is: {0}", d.Count);
break;
}
case SubMessageKind.INFO_DST:
{
InfoDestination d = submsg as InfoDestination;
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Debug.WriteLine("The guidPrefix value is: {0}", d.GuidPrefix);
break;
}
case SubMessageKind.INFO_TS:
{
InfoTimestamp d = submsg as InfoTimestamp;
Debug.WriteLine("The TimeStampFlag value state is: {0}", d.HasInvalidateFlag);
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
if (d.HasInvalidateFlag == false)
{
Debug.WriteLine("The Timestamp value is: {0}", d.TimeStamp);
}
break;
}
case SubMessageKind.INFO_SRC:
{
InfoSource d = submsg as InfoSource;
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Debug.WriteLine("The ProtocolVersion value is: {0}", d.ProtocolVersion);
Debug.WriteLine("The vendorId value is: {0}", d.VendorId);
Debug.WriteLine("The guidPrefix value is: {0}", d.GuidPrefix);
break;
}
case SubMessageKind.INFO_REPLY:
{
InfoReply d = submsg as InfoReply;
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Debug.WriteLine("The MulticastFlag value state is: {0}", d.HasMulticastFlag);
Debug.WriteLine("The unicastLocatorList value state is: {0}", d.UnicastLocatorList);
if (d.HasMulticastFlag)
{
Debug.WriteLine("The multicastLocatorList value state is: {0}", d.MulticastLocatorList);
}
break;
}
case SubMessageKind.INFO_REPLY_IP4:
{
InfoReplyIp4 d = submsg as InfoReplyIp4;
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
Debug.WriteLine("The MulticastFlag value state is: {0}", d.HasMulticastFlag);
Debug.WriteLine("The unicastLocatorList value state is: {0}", d.UnicastLocator);
if (d.HasMulticastFlag)
{
Debug.WriteLine("The multicastLocatorList value state is: {0}", d.MulticastLocator);
}
break;
}
case SubMessageKind.PAD:
{
Pad d = submsg as Pad;
Debug.WriteLine("The EndiannessFlag value state is: {0}", d.Header.Flags.IsLittleEndian);
Debug.WriteLine("The octetsToNextHeader value is: {0}", d.Header.SubMessageLength);
break;
}
}
}
lock (key) Monitor.Pulse(key);
};
rec.Start();
simulator.SendUDPPacket("SamplePackets/TestOpenDDS_rtps_reliability_runtest_local/Packet04.dat", Host, Port);
lock (key)
{
Assert.IsTrue(Monitor.Wait(key, 10000), "Time-out. Message has not arrived or there is an error on it.");
}
rec.Close();
}
