From 056791619ed5bcfff6c46d0a4730a0bf8e72f039 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sat, 22 Feb 2014 21:37:31 +0400
Subject: [PATCH] StaticArray specialization for std::bitset<>

---
 .../internal/marshalling/static_array.hpp     | 39 +++++++++++++++++++
 libuavcan/test/marshalling/static_array.cpp   |  4 +-
 2 files changed, 41 insertions(+), 2 deletions(-)

diff --git a/libuavcan/include/uavcan/internal/marshalling/static_array.hpp b/libuavcan/include/uavcan/internal/marshalling/static_array.hpp
index 0e843e604b..ba5e5b31cf 100644
--- a/libuavcan/include/uavcan/internal/marshalling/static_array.hpp
+++ b/libuavcan/include/uavcan/internal/marshalling/static_array.hpp
@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <bitset>
 #include <algorithm>
 #include <stdexcept>
 #include <uavcan/internal/impl_constants.hpp>
@@ -115,6 +116,44 @@ public:
     typedef const ValueType* const_iterator;
 };
 
+
+/// Special case - bit array
+template <unsigned int Size_, CastMode CastMode>
+class StaticArray<IntegerSpec<1, SignednessUnsigned, CastMode>, Size_ > : public std::bitset<Size_>
+{
+public:
+    enum { IsDynamic = 0 };
+    enum { Size = Size_ };
+
+    typedef IntegerSpec<1, SignednessUnsigned, CastMode> RawValueType;
+    typedef typename StorageType<RawValueType>::Type ValueType;
+
+    static int encode(const StaticArray<RawValueType, Size>& array, ScalarCodec& codec)
+    {
+        for (std::size_t i = 0; i < Size; i++)
+        {
+            const int res = RawValueType::encode(bool(array[i]), codec);
+            if (res <= 0)
+                return res;
+        }
+        return 1;
+    }
+
+    static int decode(StaticArray<RawValueType, Size>& array, ScalarCodec& codec)
+    {
+        for (std::size_t i = 0; i < Size; i++)
+        {
+            ValueType value = 0;
+            const int res = RawValueType::decode(value, codec);
+            array[i] = value;
+            if (res <= 0)
+                return res;
+        }
+        return 1;
+    }
+};
+
+
 template <typename T> class StaticArray<T, 0>;  // Invalid instantiation
 
 }
diff --git a/libuavcan/test/marshalling/static_array.cpp b/libuavcan/test/marshalling/static_array.cpp
index 22a60979d1..4c5dad3d57 100644
--- a/libuavcan/test/marshalling/static_array.cpp
+++ b/libuavcan/test/marshalling/static_array.cpp
@@ -96,8 +96,8 @@ TEST(StaticArray, Basic)
     {
         ASSERT_EQ(0, it->a);
         ASSERT_EQ(0, it->b);
-        for (A3::ValueType::C::const_iterator it2 = it->c.begin(); it2 != it->c.end(); ++it2)
-            ASSERT_EQ(0, *it2);
+        for (int i = 0; i < 8; i++)
+            ASSERT_EQ(0, it->c[i]);
     }
 
     /*