From 0f1b124086d4b334dd693a52a0986c24019b1d78 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 14 Mar 2014 02:19:57 +0400
Subject: [PATCH] Array<>::operator+=(Array<>) implementation and test

---
 .../include/uavcan/internal/marshal/array.hpp | 12 +++++++++
 libuavcan/test/internal/marshal/array.cpp     | 25 +++++++++++++++++++
 libuavcan/test/service_client.cpp             |  2 +-
 3 files changed, 38 insertions(+), 1 deletion(-)

diff --git a/libuavcan/include/uavcan/internal/marshal/array.hpp b/libuavcan/include/uavcan/internal/marshal/array.hpp
index c968cf6323..45f1cf03d8 100644
--- a/libuavcan/include/uavcan/internal/marshal/array.hpp
+++ b/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;
 };
diff --git a/libuavcan/test/internal/marshal/array.cpp b/libuavcan/test/internal/marshal/array.cpp
index 0bcb7dbeb4..fe5e0ebdf9 100644
--- a/libuavcan/test/internal/marshal/array.cpp
+++ b/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;
diff --git a/libuavcan/test/service_client.cpp b/libuavcan/test/service_client.cpp
index 8a851be423..573c0057b2 100644
--- a/libuavcan/test/service_client.cpp
+++ b/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;
 }