Added gtest for dsdlc (not fully implemented yet); dropped support for inf and nan constants in DSDL as this functionality is not portable

.gitignore

@@ -5,6 +5,7 @@ lib*.so.*
 *.a
 */build
 .dep
+__pycache__
 
 # Eclipse
 .metadata/*
@@ -14,4 +15,4 @@ lib*.so.*
 .pydevproject
 
 # libuavcan DSDL compiler default output directory
-*dsdlc_output
+dsdlc_output

libuavcan/CMakeLists.txt

@@ -52,11 +52,11 @@ if (GTEST_FOUND)
 
     # DSDL compiler invocation
     add_custom_target(dsdlc dsdl_compiler/dsdlc.py -v
-                            test/dsdl_test/root_ns_a    # Input
-                            -Otest/dsdlc_output         # Output
-                            -Itest/dsdl_test/root_ns_b  # Include
+                            test/dsdl_test/root_ns_a test/dsdl_test/root_ns_b  # Inputs
+                            -Otest/dsdlc_output                                # Output
                        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
     add_dependencies(libuavcan_test dsdlc)
+    include_directories(${CMAKE_SOURCE_DIR}/test/dsdlc_output)
 
     # Tests run automatically upon successful build
     # If failing tests need to be investigated with debugger, use 'make --ignore-errors'

libuavcan/dsdl_compiler/data_type_template.hpp

@@ -84,14 +84,14 @@ struct ${t.short_name}
     % if a.cpp_use_enum:
     enum { ${a.name} = ${a.cpp_value} }; // ${a.init_expression}
     % else:
-    static UAVCAN_CONSTEXPR typename ::uavcan::StorageType<ConstantTypes::${a.name}>::Type
+    static UAVCAN_CONSTEXPR typename ::uavcan::StorageType< ConstantTypes::${a.name} >::Type
         ${a.name} = ${a.cpp_value}; // ${a.init_expression}
     %endif
 % endfor
 
     // Fields
 % for a in fields:
-    typename ::uavcan::StorageType<FieldTypes::${a.name}>::Type ${a.name};
+    typename ::uavcan::StorageType< FieldTypes::${a.name} >::Type ${a.name};
 % endfor
 
     ${type_name}()
@@ -129,12 +129,12 @@ ${'::uavcan::TailArrayOptDisabled' if (idx + 1) < len(fields) else 'tao_mode'});
 % if t.kind == t.KIND_SERVICE:
     struct Request
     {
-        ${generate_primary_body(t.short_name, t.get_max_bitlen_request(), t.request_fields, t.request_constants) | indent}
+        ${generate_primary_body('Request', t.get_max_bitlen_request(), t.request_fields, t.request_constants) | indent}
     };
 
     struct Response
     {
-        ${generate_primary_body(t.short_name, t.get_max_bitlen_response(), t.response_fields, t.response_constants) | indent}
+        ${generate_primary_body('Response', t.get_max_bitlen_response(), t.response_fields, t.response_constants) | indent}
     };
 % else:
     ${generate_primary_body(t.short_name, t.get_max_bitlen(), t.fields, t.constants)}
@@ -187,7 +187,7 @@ UAVCAN_PACKED_END
 % if t.has_default_dtid:
 namespace
 {
-::uavcan::DefaultDataTypeRegistrator<${t.short_name}> _uavcan_gdtr_registrator_${t.short_name};
+::uavcan::DefaultDataTypeRegistrator< ${t.short_name} > _uavcan_gdtr_registrator_${t.short_name};
 }
 % else:
 // No default registration

libuavcan/dsdl_compiler/dsdlc.py

@@ -50,7 +50,6 @@ def run_parser(source_dir, search_dirs):
     except dsdl.DsdlException as ex:
         errtext = str(ex)  # TODO: gcc-style formatting
         die(errtext)
-    logging.info('%d types from [%s]', len(types), source_dir)
     return types
 
 def run_generator(types, dest_dir):
@@ -79,6 +78,8 @@ def write_generated_data(filename, data):
             return
         logging.info('Rewriting [%s]', pretty_filename(filename))
         os.remove(filename)
+    else:
+        logging.info('Creating [%s]', pretty_filename(filename))
 
     # Full rewrite
     with open(filename, 'w') as f:
@@ -95,21 +96,21 @@ def type_to_cpp_type(t):
             t.CAST_MODE_TRUNCATED: '::uavcan::CastModeTruncate',
         }[t.cast_mode]
         if t.kind == t.KIND_FLOAT:
-            return '::uavcan::FloatSpec<%d, %s>' % (t.bitlen, cast_mode)
+            return '::uavcan::FloatSpec< %d, %s >' % (t.bitlen, cast_mode)
         else:
             signedness = {
                 t.KIND_BOOLEAN: '::uavcan::SignednessUnsigned',
                 t.KIND_UNSIGNED_INT: '::uavcan::SignednessUnsigned',
                 t.KIND_SIGNED_INT: '::uavcan::SignednessSigned',
             }[t.kind]
-            return '::uavcan::IntegerSpec<%d, %s, %s>' % (t.bitlen, signedness, cast_mode)
+            return '::uavcan::IntegerSpec< %d, %s, %s >' % (t.bitlen, signedness, cast_mode)
     elif t.category == t.CATEGORY_ARRAY:
         value_type = type_to_cpp_type(t.value_type)
         mode = {
             t.MODE_STATIC: '::uavcan::ArrayModeStatic',
             t.MODE_DYNAMIC: '::uavcan::ArrayModeDynamic',
         }[t.mode]
-        return '::uavcan::Array<%s, %s, %d>' % (value_type, mode, t.max_size)
+        return '::uavcan::Array< %s, %s, %d >' % (value_type, mode, t.max_size)
     elif t.category == t.CATEGORY_COMPOUND:
         return '::' + t.full_name.replace('.', '::')
     else:
@@ -149,22 +150,14 @@ def generate_one_type(t):
         for c in constants:
             if c.type.kind == c.type.KIND_FLOAT:
                 c.cpp_use_enum = False
-                numeric_limits = '::std::numeric_limits<typename ::uavcan::StorageType<typename ConstantTypes::%s>::Type>' % c.name
-                numeric_limits_inf = numeric_limits + '::infinity()'
-                special_values = {
-                    'inf': numeric_limits_inf,
-                    '+inf': numeric_limits_inf,
-                    '-inf': '-' + numeric_limits_inf,
-                    'nan': numeric_limits + '::quiet_NaN()',
-                }
-                if c.string_value in special_values:
-                    c.cpp_value = special_values[c.string_value]
-                else:
-                    float(c.string_value)  # making sure that this is a valid float literal
-                    c.cpp_value = c.string_value
+                float(c.string_value)  # Making sure that this is a valid float literal
+                c.cpp_value = c.string_value
             else:
+                int(c.string_value)  # Making sure that this is a valid integer literal
                 c.cpp_use_enum = c.value >= 0 and c.type.bitlen <= MAX_BITLEN_FOR_ENUM
                 c.cpp_value = c.string_value
+                if c.type.kind == c.type.KIND_UNSIGNED_INT:
+                    c.cpp_value += 'U'
 
     if t.kind == t.KIND_MESSAGE:
         inject_constant_info(t.constants)
@@ -194,7 +187,7 @@ definitions and converts it into compatible hierarchy of C++ types for libuavcan
 DEFAULT_OUTDIR = './dsdlc_output'
 
 argparser = argparse.ArgumentParser(description=DESCRIPTION)
-argparser.add_argument('source_dir', help='source directory with DSDL definitions')
+argparser.add_argument('source_dir', nargs='+', help='source directory with DSDL definitions')
 argparser.add_argument('--verbose', '-v', action='count', help='verbosity level (-v, -vv)')
 argparser.add_argument('--outdir', '-O', default=DEFAULT_OUTDIR, help='output directory, default %s' % DEFAULT_OUTDIR)
 argparser.add_argument('--incdir', '-I', default=[], action='append', help='nested type namespaces')
@@ -202,7 +195,12 @@ args = argparser.parse_args()
 
 configure_logging(args.verbose)
 
-types = run_parser(args.source_dir, args.incdir)
+types = []
+for srcdir in args.source_dir:
+    new_types = run_parser(srcdir, args.incdir + args.source_dir)
+    types += new_types
+    logging.info('%d types from [%s]', len(new_types), srcdir)
+
 if not types:
     die('No type definitions were found')
 

libuavcan/test/dsdl_test/dsdl_test.cpp

@@ -0,0 +1,17 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <root_ns_a/EmptyService.hpp>
+#include <root_ns_a/EmptyMessage.hpp>
+#include <root_ns_a/NestedMessage.hpp>
+#include <root_ns_a/ReportBackSoldier.hpp>
+
+
+TEST(Dsdl, Basic)
+{
+    uavcan::StaticTransferBuffer<100> buf;
+    uavcan::BitStream bs_wr(buf);
+    uavcan::ScalarCodec sc_wr(bs_wr);
+}

libuavcan/test/dsdl_test/root_ns_a/3.ReportBackSoldier.uavcan

@@ -0,0 +1,8 @@
+bool TRUE     = true
+bool NOT_TRUE = false * true
+uint64 BIG    = (1 << 64) - 1
+uint8[<128] string_request
+---
+float64 FLOAT_CONSTANT = 1.79769313486231570815e+308
+root_ns_b.SuperIntelligentShadeOfBlue blue
+uint8[<128] string_response

libuavcan/test/dsdl_test/root_ns_a/8.EmptyMessage.uavcan

@@ -0,0 +1 @@
+ 

libuavcan/test/dsdl_test/root_ns_a/NestedMessage.uavcan

@@ -0,0 +1,5 @@
+
+float32 VALUE  =  2  +(  2  *2)
+bool BOOLEAN = true + false
+int2 field
+EmptyMessage empty

libuavcan/test/dsdl_test/root_ns_b/SuperIntelligentShadeOfBlue.uavcan

@@ -0,0 +1,2 @@
+float16[<32] array_f16
+root_ns_a.NestedMessage[3] nested_message

pyuavcan/pyuavcan/dsdl/parser.py

@@ -430,9 +430,7 @@ def evaluate_expression(expression):
             'globals': None,
             '__builtins__': None,
             'true': 1,
-            'false': 0,
-            'inf': float('+inf'),
-            'nan': float('nan')
+            'false': 0
         }
         return eval(expression, env)
     except Exception as ex: