Added tests for generated types

libuavcan/test/dsdl_test/dsdl_test.cpp

@@ -7,11 +7,48 @@
 #include <root_ns_a/EmptyMessage.hpp>
 #include <root_ns_a/NestedMessage.hpp>
 #include <root_ns_a/ReportBackSoldier.hpp>
+#include <root_ns_b/ServiceWithEmptyRequest.hpp>
+#include <root_ns_b/ServiceWithEmptyResponse.hpp>
 
 
-TEST(Dsdl, Basic)
+TEST(Dsdl, EmptyServices)
 {
     uavcan::StaticTransferBuffer<100> buf;
     uavcan::BitStream bs_wr(buf);
     uavcan::ScalarCodec sc_wr(bs_wr);
+
+    root_ns_b::ServiceWithEmptyRequest::Request req;
+    ASSERT_EQ(1, root_ns_b::ServiceWithEmptyRequest::Request::encode(req, sc_wr));
+    ASSERT_EQ("", bs_wr.toString());
+
+    root_ns_b::ServiceWithEmptyRequest::Response resp;
+    ASSERT_EQ(1, root_ns_b::ServiceWithEmptyRequest::Response::encode(resp, sc_wr));
+    ASSERT_EQ("", bs_wr.toString());
+
+    resp.covariance.push_back(-2);
+    resp.covariance.push_back(65504);
+    root_ns_b::ServiceWithEmptyRequest::Response::encode(resp, sc_wr);
+    ASSERT_EQ("00000000 11000000 11111111 01111011", bs_wr.toString());
+
+    resp.covariance.push_back(42);
+    resp.covariance[0] = 999;
+
+    uavcan::BitStream bs_rd(buf);
+    uavcan::ScalarCodec sc_rd(bs_rd);
+    ASSERT_EQ(1, root_ns_b::ServiceWithEmptyRequest::Response::decode(resp, sc_rd));
+
+    ASSERT_EQ(2, resp.covariance.size());
+    ASSERT_EQ(-2, resp.covariance[0]);
+    ASSERT_EQ(65504, resp.covariance[1]);
+}
+
+TEST(Dsdl, Signature)
+{
+    ASSERT_EQ(0xe74617107a34aa9c, root_ns_a::EmptyService::getDataTypeSignature().get());
+    ASSERT_EQ("root_ns_a.EmptyService", root_ns_a::EmptyService::getDataTypeFullName());
+    ASSERT_EQ(uavcan::DataTypeKindService, root_ns_a::EmptyService::DataTypeKind);
+
+    ASSERT_EQ(0x41a2582ee72be419, root_ns_a::NestedMessage::getDataTypeSignature().get());  // Computed manually
+    ASSERT_EQ("root_ns_a.NestedMessage", root_ns_a::NestedMessage::getDataTypeFullName());
+    ASSERT_EQ(uavcan::DataTypeKindMessage, root_ns_a::NestedMessage::DataTypeKind);
 }

libuavcan/test/dsdl_test/root_ns_b/ServiceWithEmptyRequest.uavcan

@@ -0,0 +1,2 @@
+---
+float16[<=9] covariance

libuavcan/test/dsdl_test/root_ns_b/ServiceWithEmptyResponse.uavcan

@@ -0,0 +1,2 @@
+float16[<=9] covariance
+---