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damonkohlerstonier
damonkohler
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stonier
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message_generation tests from rosjava_core.
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‎message_generation/build.gradle

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*/
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dependencies {
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compile "com.google.guava:guava:12.0"
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compile "commons-pool:commons-pool:1.6"
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compile "io.netty:netty:3.5.2.Final"
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compile "org.apache.commons:com.springsource.org.apache.commons.codec:1.3.0"
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compile "org.apache.commons:com.springsource.org.apache.commons.io:1.4.0"
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compile "org.apache.commons:com.springsource.org.apache.commons.lang:2.4.0"
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testCompile "junit:junit:4.8.2"
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compile 'io.netty:netty:3.5.2.Final'
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compile 'com.google.guava:guava:12.0'
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compile 'org.apache.commons:com.springsource.org.apache.commons.codec:1.3.0'
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compile 'org.apache.commons:com.springsource.org.apache.commons.io:1.4.0'
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compile 'commons-pool:commons-pool:1.6'
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compile 'org.apache.commons:com.springsource.org.apache.commons.lang:2.4.0'
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compile project(':gradle_plugins')
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testCompile 'junit:junit:4.8.2'
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}
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apply plugin: "application"

‎message_generation/src/test/java/org/ros/internal/message/Md5GeneratorTest.java

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/*
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* Copyright (C) 2011 Google Inc.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not
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* use this file except in compliance with the License. You may obtain a copy of
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* the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations under
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* the License.
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*/
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package org.ros.internal.message;
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import static org.junit.Assert.assertEquals;
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import org.ros.internal.message.definition.MessageDefinitionProviderChain;
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import org.junit.Before;
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import org.junit.Test;
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import org.ros.internal.message.service.ServiceDefinitionResourceProvider;
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import org.ros.internal.message.service.ServiceDescription;
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import org.ros.internal.message.service.ServiceDescriptionFactory;
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import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
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import org.ros.internal.message.topic.TopicDescription;
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import org.ros.internal.message.topic.TopicDescriptionFactory;
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/**
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* @author [email protected] (Damon Kohler)
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*/
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public class Md5GeneratorTest {
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private TopicDescriptionFactory topicDescriptionFactory;
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private ServiceDescriptionFactory serviceDescriptionFactory;
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@Before
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public void setUp() {
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MessageDefinitionProviderChain messageDefinitionProviderChain =
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new MessageDefinitionProviderChain();
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messageDefinitionProviderChain
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.addMessageDefinitionProvider(new TopicDefinitionResourceProvider());
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messageDefinitionProviderChain
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.addMessageDefinitionProvider(new ServiceDefinitionResourceProvider());
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topicDescriptionFactory = new TopicDescriptionFactory(messageDefinitionProviderChain);
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serviceDescriptionFactory = new ServiceDescriptionFactory(messageDefinitionProviderChain);
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}
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@Test
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public void testPrimitives() {
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TopicDescription topicDescription =
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topicDescriptionFactory.newFromType("test_msgs/TestPrimitives");
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assertEquals("3e70f428a22c0d26ca67f87802c8e00f", topicDescription.getMd5Checksum());
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}
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@Test
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public void testString() {
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TopicDescription topicDescription = topicDescriptionFactory.newFromType("test_msgs/TestString");
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assertEquals("334ff4377be93faa44ebc66d23d40fd3", topicDescription.getMd5Checksum());
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}
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@Test
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public void testHeader() {
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TopicDescription topicDescription = topicDescriptionFactory.newFromType("test_msgs/TestHeader");
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assertEquals("4b5a00f536da2f756ba6aebcf795a967", topicDescription.getMd5Checksum());
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}
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@Test
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public void testArrays() {
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TopicDescription topicDescription = topicDescriptionFactory.newFromType("test_msgs/TestArrays");
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assertEquals("4cc9b5e2cebe791aa3e994f5bc159eb6", topicDescription.getMd5Checksum());
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}
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@Test
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public void testComposite() {
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TopicDescription topicDescription = topicDescriptionFactory.newFromType("test_msgs/Composite");
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assertEquals("d8fb6eb869ad3956b50e8737d96dc9fa", topicDescription.getMd5Checksum());
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}
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@Test
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public void testOdometry() {
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TopicDescription topicDescription = topicDescriptionFactory.newFromType("nav_msgs/Odometry");
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assertEquals("cd5e73d190d741a2f92e81eda573aca7", topicDescription.getMd5Checksum());
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}
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@Test
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public void testEmpty() {
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ServiceDescription serviceDescription = serviceDescriptionFactory.newFromType("std_srvs/Empty");
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assertEquals("d41d8cd98f00b204e9800998ecf8427e", serviceDescription.getMd5Checksum());
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}
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@Test
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public void testAddTwoInts() {
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ServiceDescription serviceDescription =
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serviceDescriptionFactory.newFromType("test_msgs/AddTwoInts");
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assertEquals("6a2e34150c00229791cc89ff309fff21", serviceDescription.getMd5Checksum());
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}
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@Test
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public void testTransitiveSrv() {
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ServiceDescription serviceDescription =
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serviceDescriptionFactory.newFromType("test_msgs/TransitiveSrv");
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assertEquals("8b7918ee2b81eaf825f4c70de011f6fa", serviceDescription.getMd5Checksum());
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}
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}

‎message_generation/src/test/java/org/ros/internal/message/MessageInterfaceBuilderTest.java

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/*
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* Copyright (C) 2012 Google Inc.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not
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* use this file except in compliance with the License. You may obtain a copy of
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* the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations under
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* the License.
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*/
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package org.ros.internal.message;
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import static org.junit.Assert.assertEquals;
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import org.junit.Before;
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import org.junit.Test;
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import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
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import org.ros.message.MessageDeclaration;
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import org.ros.message.MessageFactory;
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/**
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* @author [email protected] (Damon Kohler)
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*/
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public class MessageInterfaceBuilderTest {
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private TopicDefinitionResourceProvider topicDefinitionResourceProvider;
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private MessageFactory messageFactory;
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@Before
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public void before() {
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topicDefinitionResourceProvider = new TopicDefinitionResourceProvider();
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messageFactory = new DefaultMessageFactory(topicDefinitionResourceProvider);
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}
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@Test
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public void testDuplicateFieldNames() {
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MessageInterfaceBuilder builder = new MessageInterfaceBuilder();
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builder.setPackageName("foo");
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builder.setInterfaceName("bar");
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builder.setMessageDeclaration(MessageDeclaration.of("foo/bar", "int32 foo\nint32 Foo"));
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builder.setAddConstantsAndMethods(true);
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String result = builder.build(messageFactory);
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assertEquals("package foo;\n\n"
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+ "public interface bar extends org.ros.internal.message.Message {\n"
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+ " static final java.lang.String _TYPE = \"foo/bar\";\n"
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+ " static final java.lang.String _DEFINITION = \"int32 foo\\nint32 Foo\";\n"
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+ " int getFoo();\n" + " void setFoo(int value);\n" + "}\n", result);
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}
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}

‎message_generation/src/test/java/org/ros/internal/message/MessageTest.java

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/*
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* Copyright (C) 2011 Google Inc.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not
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* use this file except in compliance with the License. You may obtain a copy of
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* the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations under
14+
* the License.
15+
*/
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package org.ros.internal.message;
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import static org.junit.Assert.assertEquals;
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import com.google.common.collect.Lists;
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import org.junit.Before;
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import org.junit.Test;
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import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
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import org.ros.message.MessageFactory;
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/**
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* @author [email protected] (Damon Kohler)
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*/
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public class MessageTest {
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private TopicDefinitionResourceProvider topicDefinitionResourceProvider;
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private MessageFactory messageFactory;
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@Before
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public void before() {
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topicDefinitionResourceProvider = new TopicDefinitionResourceProvider();
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messageFactory = new DefaultMessageFactory(topicDefinitionResourceProvider);
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}
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@Test
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public void testCreateEmptyMessage() {
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topicDefinitionResourceProvider.add("foo/foo", "");
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messageFactory.newFromType("foo/foo");
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}
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@Test
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public void testCreateEmptyMessageWithBlankLines() {
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topicDefinitionResourceProvider.add("foo/foo", "\n\n\n\n\n");
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messageFactory.newFromType("foo/foo");
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}
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@Test
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public void testString() {
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String data = "Hello, ROS!";
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RawMessage rawMessage = messageFactory.newFromType("std_msgs/String");
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rawMessage.setString("data", data);
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assertEquals(data, rawMessage.getString("data"));
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}
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@Test
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public void testStringWithComments() {
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topicDefinitionResourceProvider.add("foo/foo", "# foo\nstring data\n # string other data");
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String data = "Hello, ROS!";
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RawMessage rawMessage = messageFactory.newFromType("foo/foo");
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rawMessage.setString("data", data);
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assertEquals(data, rawMessage.getString("data"));
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}
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@Test
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public void testInt8() {
73+
byte data = 42;
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RawMessage rawMessage = messageFactory.newFromType("std_msgs/Int8");
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rawMessage.setInt8("data", data);
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assertEquals(data, rawMessage.getInt8("data"));
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}
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@Test
80+
public void testNestedMessage() {
81+
topicDefinitionResourceProvider.add("foo/foo", "bar data");
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topicDefinitionResourceProvider.add("foo/bar", "int8 data");
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RawMessage fooMessage = messageFactory.newFromType("foo/foo");
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RawMessage barMessage = messageFactory.newFromType("foo/bar");
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fooMessage.setMessage("data", barMessage);
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byte data = 42;
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barMessage.setInt8("data", data);
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assertEquals(data, fooMessage.getMessage("data").toRawMessage().getInt8("data"));
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}
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@Test
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public void testNestedMessageList() {
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topicDefinitionResourceProvider.add("foo/foo", "bar[] data");
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topicDefinitionResourceProvider.add("foo/bar", "int8 data");
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RawMessage fooMessage = messageFactory.newFromType("foo/foo");
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RawMessage barMessage = messageFactory.newFromType("foo/bar");
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fooMessage.setMessageList("data", Lists.<Message>newArrayList(barMessage));
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byte data = 42;
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barMessage.toRawMessage().setInt8("data", data);
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assertEquals(data, fooMessage.getMessageList("data").get(0).toRawMessage().getInt8("data"));
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}
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@Test
104+
public void testConstantInt8() {
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topicDefinitionResourceProvider.add("foo/foo", "int8 data=42");
106+
RawMessage rawMessage = messageFactory.newFromType("foo/foo");
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assertEquals(42, rawMessage.getInt8("data"));
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}
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@Test
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public void testConstantString() {
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topicDefinitionResourceProvider.add("foo/foo", "string data=Hello, ROS! # comment ");
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RawMessage rawMessage = messageFactory.newFromType("foo/foo");
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assertEquals("Hello, ROS! # comment", rawMessage.getString("data"));
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}
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public void testInt8List() {
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topicDefinitionResourceProvider.add("foo/foo", "int8[] data");
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RawMessage rawMessage = messageFactory.newFromType("foo/foo");
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byte[] data = new byte[] { (byte) 1, (byte) 2, (byte) 3 };
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rawMessage.setInt8Array("data", data);
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assertEquals(data, rawMessage.getInt8Array("data"));
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}
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}

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