YAML streaming for generated types

libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp

@@ -3,6 +3,7 @@
  */
 
 #include <gtest/gtest.h>
+
 #include <uavcan/Timestamp.hpp>
 #include <uavcan/FigureOfMerit.hpp>
 #include <uavcan/mavlink/Message.hpp>
@@ -29,3 +30,92 @@
 #include <uavcan/protocol/file/BeginTransfer.hpp>
 #include <uavcan/protocol/file/Crc.hpp>
 #include <uavcan/protocol/file/GetInfo.hpp>
+
+#include <root_ns_a/Deep.hpp>
+
+
+TEST(Dsdl, Streaming)
+{
+    std::ostringstream os;
+
+    uavcan::mavlink::Message mavlink;
+    os << mavlink << std::endl << "==========" << std::endl;
+
+    mavlink.compid = 12;
+    mavlink.seq = 42;
+    mavlink.payload = "Here goes payload";
+    os << mavlink << std::endl << "==========" << std::endl;
+
+    uavcan::protocol::GetNodeInfo::Response get_node_info_rsp;
+    os << get_node_info_rsp << std::endl << "==========" << std::endl;
+
+    root_ns_a::Deep ps;
+    ps.a.resize(2);
+    os << ps << std::endl << "==========" << std::endl;
+
+    static const std::string Reference = "seq: 0\n"
+        "sysid: 0\n"
+        "compid: 0\n"
+        "msgid: 0\n"
+        "payload: \"\"\n"
+        "==========\n"
+        "seq: 42\n"
+        "sysid: 0\n"
+        "compid: 12\n"
+        "msgid: 0\n"
+        "payload: \"Here goes payload\"\n"
+        "==========\n"
+        "software_version: \n"
+        "  major: 0\n"
+        "  minor: 0\n"
+        "hardware_version: \n"
+        "  major: 0\n"
+        "  minor: 0\n"
+        "uavcan_version: \n"
+        "  major: 0\n"
+        "  minor: 0\n"
+        "status: \n"
+        "  uptime_sec: 0\n"
+        "  status_code: 0\n"
+        "name: \"\"\n"
+        "==========\n"
+        "c: 0\n"
+        "str: \"\"\n"
+        "a: \n"
+        "  - \n"
+        "    scalar: 0\n"
+        "    vector: \n"
+        "      - \n"
+        "        vector: [0, 0, 0, 0]\n"
+        "        bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
+        "      - \n"
+        "        vector: [0, 0, 0, 0]\n"
+        "        bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
+        "      - \n"
+        "        vector: [0, 0, 0, 0]\n"
+        "        bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
+        "  - \n"
+        "    scalar: 0\n"
+        "    vector: \n"
+        "      - \n"
+        "        vector: [0, 0, 0, 0]\n"
+        "        bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
+        "      - \n"
+        "        vector: [0, 0, 0, 0]\n"
+        "        bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
+        "      - \n"
+        "        vector: [0, 0, 0, 0]\n"
+        "        bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
+        "b: \n"
+        "  - \n"
+        "    vector: [0, 0, 0, 0]\n"
+        "    bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
+        "  - \n"
+        "    vector: [0, 0, 0, 0]\n"
+        "    bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
+        "  - \n"
+        "    vector: [0, 0, 0, 0]\n"
+        "    bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
+        "==========\n";
+    ASSERT_EQ(Reference, os.str());
+}

libuavcan/test/dsdl_test/root_ns_a/A.uavcan

@@ -0,0 +1,8 @@
+#
+# Nested type.
+# Energy and capacity are expressed in watt hours (Joules are infeasible because of range limitations).
+# Unknown values should be represented as NAN.
+#
+
+float32 scalar
+B[3] vector

libuavcan/test/dsdl_test/root_ns_a/B.uavcan

@@ -0,0 +1,2 @@
+float64[4] vector
+bool[16] bools

libuavcan/test/dsdl_test/root_ns_a/Deep.uavcan

@@ -0,0 +1,8 @@
+#
+# Info for all battery packs of the primary power supply.
+#
+
+bool c
+uint8[<64] str
+A[<3] a
+B[3] b

libuavcan/test/marshal/array.cpp

@@ -710,3 +710,59 @@ TEST(Array, Strings)
     ASSERT_STREQ("Our sun is dying. 123456-789", a8.c_str());
     ASSERT_STREQ("456", a7.c_str());
 }
+
+
+TEST(Array, FlatStreaming)
+{
+    typedef Array<IntegerSpec<8, SignednessUnsigned, CastModeSaturate>, ArrayModeDynamic, 32> A8D;
+    typedef Array<FloatSpec<16, CastModeSaturate>, ArrayModeDynamic, 16> AF16D;
+    typedef Array<FloatSpec<16, CastModeSaturate>, ArrayModeStatic, 3> AF16S;
+
+    A8D a1;
+    a1 = "12\n3\x44\xa5\xde\xad\x79";
+    uavcan::YamlStreamer<A8D>::stream(std::cout, a1, 0);
+    std::cout << std::endl;
+
+    A8D a2;
+    a2 = "Hello";
+    uavcan::YamlStreamer<A8D>::stream(std::cout, a2, 0);
+    std::cout << std::endl;
+
+    AF16D af16d1;
+    af16d1.push_back(1.23);
+    af16d1.push_back(4.56);
+    uavcan::YamlStreamer<AF16D>::stream(std::cout, af16d1, 0);
+    std::cout << std::endl;
+
+    AF16D af16d2;
+    uavcan::YamlStreamer<AF16D>::stream(std::cout, af16d2, 0);
+    std::cout << std::endl;
+
+    AF16S af16s;
+    uavcan::YamlStreamer<AF16S>::stream(std::cout, af16s, 0);
+    std::cout << std::endl;
+}
+
+
+TEST(Array, MultidimensionalStreaming)
+{
+    typedef Array<FloatSpec<16, CastModeSaturate>, ArrayModeDynamic, 16> Float16Array;
+    typedef Array<Float16Array, ArrayModeDynamic, 8> TwoDimensional;
+    typedef Array<TwoDimensional, ArrayModeDynamic, 4> ThreeDimensional;
+
+    ThreeDimensional threedee;
+    threedee.resize(3);
+    for (int x = 0; x < threedee.size(); x++)
+    {
+        threedee[x].resize(3);
+        for (int y = 0; y < threedee[x].size(); y++)
+        {
+            threedee[x][y].resize(3);
+            for (int z = 0; z < threedee[x][y].size(); z++)
+                threedee[x][y][z] = 1.0 / (x + y + z + 1.0);
+        }
+    }
+
+    uavcan::YamlStreamer<ThreeDimensional>::stream(std::cout, threedee, 0);
+    std::cout << std::endl;
+}