Array<>::operator+=(Array<>) implementation and test

libuavcan/include/uavcan/internal/marshal/array.hpp

@@ -394,6 +394,18 @@ public:
         return *this;
     }
 
+    template <uavcan::ArrayMode RhsArrayMode, unsigned int RhsMaxSize>
+    SelfType& operator+=(const Array<T, RhsArrayMode, RhsMaxSize>& rhs)
+    {
+        typedef Array<T, RhsArrayMode, RhsMaxSize> Rhs;
+        typedef typename Select<(sizeof(SizeType) > sizeof(typename Rhs::SizeType)),
+                                SizeType, typename Rhs::SizeType>::Result CommonSizeType;
+        StaticAssert<IsDynamic>::check();
+        for (CommonSizeType i = 0; i < rhs.size(); i++)
+            push_back(rhs[i]);
+        return *this;
+    }
+
     typedef ValueType value_type;
     typedef SizeType size_type;
 };

libuavcan/test/internal/marshal/array.cpp

@@ -652,6 +652,31 @@ TEST(Array, Copyability)
 }
 
 
+TEST(Array, Appending)
+{
+    typedef Array<FloatSpec<16, CastModeSaturate>, ArrayModeDynamic, 2> A;
+    typedef Array<FloatSpec<16, CastModeSaturate>, ArrayModeDynamic, 257> B;
+    A a;
+    B b;
+
+    a.push_back(1);
+    a.push_back(2);
+    a += b;
+    ASSERT_EQ(2, a.size());
+    ASSERT_EQ(1, a[0]);
+    ASSERT_EQ(2, a[1]);
+
+    b += a;
+    ASSERT_TRUE(a == b);
+    b += a;
+    ASSERT_EQ(4, b.size());
+    ASSERT_EQ(1, b[0]);
+    ASSERT_EQ(2, b[1]);
+    ASSERT_EQ(1, b[2]);
+    ASSERT_EQ(2, b[3]);
+}
+
+
 TEST(Array, Strings)
 {
     typedef Array<IntegerSpec<8, SignednessUnsigned, CastModeSaturate>, ArrayModeDynamic, 32> A8;

libuavcan/test/service_client.cpp

@@ -47,7 +47,7 @@ static void stringServiceServerCallback(const uavcan::ReceivedDataStructure<root
                                         root_ns_a::StringService::Response& rsp)
 {
     rsp.string_response = "Request string: ";
-    rsp.string_response += req.string_request.c_str();
+    rsp.string_response += req.string_request;
 }