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Another test for complex data structures with unions and voids

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This commit is contained in:
Pavel Kirienko
2015-07-11 14:03:50 +03:00
parent 1b7ff0693f
commit 17c0003a87
1 changed files with 44 additions and 1 deletions
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libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
+44 -1
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@@ -8,6 +8,7 @@
#include <uavcan/transport/transfer_buffer.hpp>
#include <uavcan/Timestamp.hpp>
#include <uavcan/protocol/param/GetSet.hpp>
#include <uavcan/protocol/GetTransportStats.hpp>
#include <uavcan/protocol/Panic.hpp>
#include <uavcan/protocol/RestartNode.hpp>
@@ -139,7 +140,7 @@ static bool encodeDecodeValidate(const T& obj, const std::string& reference_bit_
return false;
}
if (decoded != obj)
if (!decoded.isClose(obj))
{
std::cout << "DECODED OBJECT DOESN'T MATCH THE REFERENCE:\nEXPECTED:\n"
<< obj << "\nACTUAL:\n"
@@ -197,3 +198,45 @@ TEST(Dsdl, Union)
EXPECT_TRUE(validateYaml(s, "e: \n array: [0, 1, 2, 3]"));
EXPECT_TRUE(encodeDecodeValidate(s, "10100000 11011000"));
}
TEST(Dsdl, ParamGetSetRequestUnion)
{
uavcan::protocol::param::GetSet::Request req;
req.index = 8191;
req.name = "123"; // 49, 50, 51 // 00110001, 00110010, 00110011
EXPECT_TRUE(encodeDecodeValidate(req, "11111111 11111000 00110001 00110010 00110011"));
req.value.to<uavcan::protocol::param::Value::Tag::string_value>() = "abc"; // 01100001, 01100010, 01100011
EXPECT_TRUE(encodeDecodeValidate(req,
"11111111 11111100 " // Index, Union tag
"00000011 " // Array length
"01100001 01100010 01100011 " // Payload
"00110001 00110010 00110011")); // Name
req.value.to<uavcan::protocol::param::Value::Tag::integer_value>() = 1;
EXPECT_TRUE(encodeDecodeValidate(req,
"11111111 11111001 " // Index, Union tag
"00000001 00000000 00000000 00000000 00000000 00000000 00000000 00000000 " // Payload
"00110001 00110010 00110011")); // Name
}
TEST(Dsdl, ParamGetSetResponseUnion)
{
uavcan::protocol::param::GetSet::Response res;
res.value.to<uavcan::protocol::param::Value::Tag::string_value>() = "abc";
res.default_value.to<uavcan::protocol::param::Value::Tag::string_value>(); // Empty
res.name = "123";
EXPECT_TRUE(encodeDecodeValidate(res,
"00000100 " // Value union tag
"00000011 " // Value array length
"01100001 01100010 01100011 " // Value array payload
"00000100 " // Default union tag
"00000000 " // Default array length
"00000000 " // Max value tag
"00000000 " // Min value tag
"00110001 00110010 00110011")); // Name
}