add named pdu

toppers · Dec 7, 2024 · d0337f6 · d0337f6
1 parent 20d0391
commit d0337f6
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Showing 8 changed files with 105 additions and 9 deletions.
diff --git a/Runtime/pdu/core/NamedPdu.cs b/Runtime/pdu/core/NamedPdu.cs
@@ -0,0 +1,43 @@
+using System;
+using hakoniwa.pdu.interfaces;
+
+public class NamedPdu: INamedPdu
+{
+    private string robotName;
+    private IPdu pdu;
+    public NamedPdu(string robot_name, IPdu _pdu)
+    {
+        this.robotName = robot_name;
+        this.pdu = _pdu;
+    }
+    public string RobtName => robotName;
+    public IPdu Pdu => pdu;
+    public string Name => pdu.Name;
+    public string TypeName => pdu.TypeName;
+    public string PackageName => pdu.PackageName;
+
+    public T GetData<T>(string field_name)
+    {
+        return pdu.GetData<T>(field_name);
+    }
+
+    public T[] GetDataArray<T>(string field_name)
+    {
+        return pdu.GetDataArray<T>(field_name);
+    }
+
+    public void SetData<T>(string field_name, T value)
+    {
+        pdu.SetData<T>(field_name, value);
+    }
+
+    public void SetData<T>(string field_name, T[] value)
+    {
+        pdu.SetData<T>(field_name, value);
+    }
+
+    public void SetData<T>(string field_name, int off, T value)
+    {
+        pdu.SetData<T>(field_name, value);
+    }
+}
diff --git a/Runtime/pdu/core/NamedPdu.cs.meta b/Runtime/pdu/core/NamedPdu.cs.meta
diff --git a/Runtime/pdu/core/PduManager.cs b/Runtime/pdu/core/PduManager.cs
@@ -194,5 +194,21 @@ private void GetPackageTypeName(string robotName, string pduName, out string pac
             packageName = parts[0];
             typeName = parts[1];
         }
+
+        public INamedPdu CreateNamedPdu(string robotName, string pduName)
+        {
+            var pdu = CreatePdu(robotName, pduName);
+            return new NamedPdu(robotName, pdu);
+        }
+
+        public string WriteNamedPdu(INamedPdu npdu)
+        {
+            return WritePdu(npdu.RobtName, npdu.Pdu);
+        }
+
+        public Task<bool> FlushNamedPdu(INamedPdu npdu)
+        {
+            return FlushPdu(npdu.RobtName, npdu.Pdu.Name);
+        }
     }
 }
diff --git a/Runtime/pdu/interfaces/INamedpdu.cs b/Runtime/pdu/interfaces/INamedpdu.cs
@@ -0,0 +1,8 @@
+namespace hakoniwa.pdu.interfaces
+{
+    public interface INamedPdu: IPdu
+    {
+        string RobtName { get; }
+        IPdu Pdu { get; }
+    }
+}
diff --git a/Runtime/pdu/interfaces/INamedpdu.cs.meta b/Runtime/pdu/interfaces/INamedpdu.cs.meta
diff --git a/Runtime/pdu/interfaces/IPduManager.cs b/Runtime/pdu/interfaces/IPduManager.cs
@@ -14,8 +14,14 @@ public interface IPduManager
         string WritePdu(string robotName, IPdu pdu);
         Task<bool> FlushPdu(string key);
         Task<bool> FlushPdu(string robotName, string pduName);
+
         IPdu ReadPdu(string robotName, string pduName);
         int GetChannelId(string robotName, string pduName);
         int GetPduSize(string robotName, string pduName);
+
+        INamedPdu CreateNamedPdu(string robotName, string pduName);
+        string WriteNamedPdu(INamedPdu npdu);
+        Task<bool> FlushNamedPdu(INamedPdu npdu);
+
     }
 }
diff --git a/Tests/tests/hakoniwa.pdu.test/UnitTest.cs b/Tests/tests/hakoniwa.pdu.test/UnitTest.cs
@@ -194,10 +194,10 @@ public void Ev3PduSensor_Test()
         /*
          * Create Test.
          */
-        IPdu pdu = mgr.CreatePdu(robotName, pduName);
-        Assert.NotNull(pdu);
+        INamedPdu npdu = mgr.CreateNamedPdu(robotName, pduName);
+        Assert.NotNull(npdu);
 
-        Ev3PduSensor sensor = new Ev3PduSensor(pdu);
+        Ev3PduSensor sensor = new Ev3PduSensor(npdu.Pdu);
 
         Assert.Equal(2, sensor.color_sensors.Length);
         Assert.Equal(2, sensor.touch_sensors.Length);
@@ -220,7 +220,7 @@ public void Ev3PduSensor_Test()
         Assert.Equal(2u, sensor.motor_angle[1]);
         Assert.Equal(3u, sensor.motor_angle[2]);
 
-        mgr.WritePdu(robotName, pdu);
+        mgr.WriteNamedPdu(npdu);
 
         /*
          * Read Test.

diff --git a/Tests/tests/hakoniwa.uc.test/UnitTest.cs b/Tests/tests/hakoniwa.uc.test/UnitTest.cs
@@ -99,10 +99,10 @@ public async Task Test_Twist()
         /*
          * Create Test.
          */
-        IPdu pdu = mgr.CreatePdu(robotName, pduName);
-        Assert.NotNull(pdu);
+        INamedPdu npdu = mgr.CreateNamedPdu(robotName, pduName);
+        Assert.NotNull(npdu);
 
-        Twist twist = new Twist(pdu);
+        Twist twist = new Twist(npdu.Pdu);
         //double x_val = pdu.GetData<IPdu>("linear").GetData<double>("x");
         double x_val = twist.linear.x;
         Assert.Equal(0, x_val);
@@ -118,10 +118,11 @@ public async Task Test_Twist()
         //pdu.GetData<IPdu>("angular").SetData<double>("z", -1.0);
         twist.linear.x = 1.0;
         twist.angular.z = -1.0;
-        var key = mgr.WritePdu(robotName, pdu);
+        var key = mgr.WriteNamedPdu(npdu);
 
         //await mgr.FlushPdu(robotName, pduName);
-        await mgr.FlushPdu(key);
+        //await mgr.FlushPdu(key);
+        await mgr.FlushNamedPdu(npdu);
 
         IPdu tmp = mgr.ReadPdu(robotName, pduName);
         Assert.Null(tmp);