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 Task <TParam> GetAsync()
{
return(_parameterServerClient.GetParamAsync(NodeId, Name)
.ContinueWith(res => _converter.ConvertTo(res.Result)));
}
public void GetParam_NotSet()
{
var result = new object[3]
{
-1,
"Parameter [/aaa] is not set",
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 ex = AssertEx.Throws<AggregateException>(
() => client.GetParamAsync("test", "aaa").Wait());
ex.InnerException.Message.Is("Parameter [/aaa] is not set");
}
public void GetParam_SuccessString()
{
var result = new object[3]
{
1,
"Parameter [/rosversion]",
"1.6.5"
};
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", "rosversion").Result.Is("1.6.5");
}
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();
}