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TAO tests
This commit is contained in:
Pavel Kirienko
parent
ca277a4ef9
commit
af00efade2
@ -17,9 +17,9 @@ struct CustomType
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enum { MinBitLen = A::MinBitLen + B::MinBitLen + C::MinBitLen };
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enum { MaxBitLen = A::MaxBitLen + B::MaxBitLen + C::MaxBitLen };
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uavcan::StorageType<A>::Type a;
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uavcan::StorageType<B>::Type b;
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uavcan::StorageType<C>::Type c;
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typename uavcan::StorageType<A>::Type a;
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typename uavcan::StorageType<B>::Type b;
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typename uavcan::StorageType<C>::Type c;
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CustomType() : a(), b(), c() { }
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@ -363,3 +363,222 @@ TEST(Array, Dynamic)
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for (int i = 0; i < 255; i++)
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ASSERT_EQ(72, b[i]);
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}
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template <typename B>
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struct CustomType2
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{
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typedef uavcan::FloatSpec<16, uavcan::CastModeSaturate> A;
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enum { MinBitLen = A::MinBitLen + B::MinBitLen };
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enum { MaxBitLen = A::MaxBitLen + B::MaxBitLen };
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typename uavcan::StorageType<A>::Type a;
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typename uavcan::StorageType<B>::Type b;
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CustomType2() : a(), b() { }
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bool operator==(const CustomType2& rhs) const { return a == rhs.a && b == rhs.b; }
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static int encode(const CustomType2& obj, uavcan::ScalarCodec& codec,
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uavcan::TailArrayOptimizationMode tao_mode = uavcan::TailArrayOptEnabled)
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{
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int res = 0;
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res = A::encode(obj.a, codec, uavcan::TailArrayOptDisabled);
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if (res <= 0)
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return res;
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res = B::encode(obj.b, codec, tao_mode);
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if (res <= 0)
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return res;
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return 1;
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}
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static int decode(CustomType2& obj, uavcan::ScalarCodec& codec,
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uavcan::TailArrayOptimizationMode tao_mode = uavcan::TailArrayOptEnabled)
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{
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int res = 0;
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res = A::decode(obj.a, codec, uavcan::TailArrayOptDisabled);
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if (res <= 0)
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return res;
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res = B::decode(obj.b, codec, tao_mode);
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if (res <= 0)
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return res;
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return 1;
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}
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};
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template <typename T>
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static std::string runEncodeDecode(const typename uavcan::StorageType<T>::Type& value,
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const uavcan::TailArrayOptimizationMode tao_mode)
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{
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uavcan::StaticTransferBuffer<(T::MaxBitLen + 7) / 8> buf;
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uavcan::BitStream bs_wr(buf);
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uavcan::ScalarCodec sc_wr(bs_wr);
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EXPECT_EQ(1, T::encode(value, sc_wr, tao_mode));
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typename uavcan::StorageType<T>::Type value2 = typename uavcan::StorageType<T>::Type();
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// Decode multiple times to make sure that the decoded type is being correctly de-initialized
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for (int i = 0; i < 3; i++)
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{
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uavcan::BitStream bs_rd(buf);
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uavcan::ScalarCodec sc_rd(bs_rd);
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EXPECT_EQ(1, T::decode(value2, sc_rd, tao_mode));
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EXPECT_EQ(value, value2);
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}
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return bs_wr.toString();
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}
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TEST(Array, TailArrayOptimization)
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{
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using uavcan::Array;
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using uavcan::ArrayModeDynamic;
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using uavcan::ArrayModeStatic;
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using uavcan::IntegerSpec;
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using uavcan::FloatSpec;
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using uavcan::SignednessSigned;
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using uavcan::SignednessUnsigned;
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using uavcan::CastModeSaturate;
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using uavcan::CastModeTruncate;
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typedef Array<IntegerSpec<1, SignednessUnsigned, CastModeSaturate>, ArrayModeDynamic, 5> OneBitArray;
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typedef Array<IntegerSpec<8, SignednessUnsigned, CastModeSaturate>, ArrayModeDynamic, 255> EightBitArray;
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typedef CustomType2<Array<OneBitArray, ArrayModeDynamic, 255> > A;
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typedef CustomType2<Array<EightBitArray, ArrayModeDynamic, 255> > B;
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typedef CustomType2<EightBitArray> C;
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A a;
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B b;
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C c;
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/*
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* Empty
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*/
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// a LSB a MSB b len
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ASSERT_EQ("00000000 00000000 00000000", runEncodeDecode<A>(a, uavcan::TailArrayOptEnabled));
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ASSERT_EQ("00000000 00000000 00000000", runEncodeDecode<A>(a, uavcan::TailArrayOptDisabled));
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// a LSB a MSB b len
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ASSERT_EQ("00000000 00000000 00000000", runEncodeDecode<B>(b, uavcan::TailArrayOptEnabled));
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ASSERT_EQ("00000000 00000000 00000000", runEncodeDecode<B>(b, uavcan::TailArrayOptDisabled));
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// a LSB a MSB
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ASSERT_EQ("00000000 00000000", runEncodeDecode<C>(c, uavcan::TailArrayOptEnabled));
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ASSERT_EQ("00000000 00000000 00000000", runEncodeDecode<C>(c, uavcan::TailArrayOptDisabled));
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/*
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* A
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*/
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a.b.resize(2);
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a.b[0].push_back(true);
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a.b[0].push_back(false);
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// a.b[1] remains empty
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// a LSB a MSB b len b: len(2), 1, 0, len(0)
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ASSERT_EQ("00000000 00000000 00000010 01010000", runEncodeDecode<A>(a, uavcan::TailArrayOptEnabled));
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ASSERT_EQ("00000000 00000000 00000010 01010000", runEncodeDecode<A>(a, uavcan::TailArrayOptDisabled));
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/*
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* B
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*/
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b.b.resize(3);
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b.b[0].push_back(42);
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b.b[0].push_back(72);
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// b.b[1] remains empty
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b.b[2].push_back(123);
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b.b[2].push_back(99);
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// a LSB a MSB b len b[0]len 42 72 b[1]len 123 99 (b[2] len optimized out)
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ASSERT_EQ("00000000 00000000 00000011 00000010 00101010 01001000 00000000 01111011 01100011",
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runEncodeDecode<B>(b, uavcan::TailArrayOptEnabled));
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// Same as above, but b[2] len is present v here v
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ASSERT_EQ("00000000 00000000 00000011 00000010 00101010 01001000 00000000 00000010 01111011 01100011",
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runEncodeDecode<B>(b, uavcan::TailArrayOptDisabled));
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/*
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* C
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*/
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c.a = 1;
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c.b.push_back(1);
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c.b.push_back(2);
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c.b.push_back(3);
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// a LSB a MSB 1 2 3
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ASSERT_EQ("00000000 00111100 00000001 00000010 00000011",
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runEncodeDecode<C>(c, uavcan::TailArrayOptEnabled));
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// a LSB a MSB b len 1 2 3
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ASSERT_EQ("00000000 00111100 00000011 00000001 00000010 00000011",
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runEncodeDecode<C>(c, uavcan::TailArrayOptDisabled));
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}
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TEST(Array, TailArrayOptimizationErrors)
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{
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using uavcan::Array;
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using uavcan::ArrayModeDynamic;
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using uavcan::ArrayModeStatic;
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using uavcan::IntegerSpec;
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using uavcan::FloatSpec;
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using uavcan::SignednessSigned;
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using uavcan::SignednessUnsigned;
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using uavcan::CastModeSaturate;
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using uavcan::CastModeTruncate;
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typedef Array<IntegerSpec<8, SignednessUnsigned, CastModeSaturate>, ArrayModeDynamic, 5> A;
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A a;
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ASSERT_TRUE(a.empty());
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ASSERT_EQ("", runEncodeDecode<A>(a, uavcan::TailArrayOptEnabled));
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ASSERT_EQ("00000000", runEncodeDecode<A>(a, uavcan::TailArrayOptDisabled));
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// Correct decode/encode
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a.push_back(1);
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a.push_back(126);
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a.push_back(5);
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ASSERT_FALSE(a.empty());
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ASSERT_EQ("00000001 01111110 00000101", runEncodeDecode<A>(a, uavcan::TailArrayOptEnabled));
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ASSERT_EQ("01100000 00101111 11000000 10100000", runEncodeDecode<A>(a, uavcan::TailArrayOptDisabled));
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// Invalid decode - length field is out of range
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uavcan::StaticTransferBuffer<7> buf;
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uavcan::BitStream bs_wr(buf);
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uavcan::ScalarCodec sc_wr(bs_wr);
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ASSERT_EQ(1, sc_wr.encode<3>(uint8_t(6))); // Length - more than 5 items, error
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ASSERT_EQ(1, sc_wr.encode<8>(uint8_t(42)));
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ASSERT_EQ(1, sc_wr.encode<8>(uint8_t(72)));
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ASSERT_EQ(1, sc_wr.encode<8>(uint8_t(126)));
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ASSERT_EQ(1, sc_wr.encode<8>(uint8_t(1)));
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ASSERT_EQ(1, sc_wr.encode<8>(uint8_t(2)));
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ASSERT_EQ(1, sc_wr.encode<8>(uint8_t(3))); // Out of range - only 5 items allowed
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// 197 73 15 192 32 ...
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ASSERT_EQ("11000101 01001001 00001111 11000000 00100000 01000000 01100000", bs_wr.toString());
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{
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uavcan::BitStream bs_rd(buf);
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uavcan::ScalarCodec sc_rd(bs_rd);
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A a2;
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a2.push_back(56); // Garbage
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ASSERT_EQ(1, a2.size());
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// Will fail - declared length is more than 5 items
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ASSERT_EQ(-1, A::decode(a2, sc_rd, uavcan::TailArrayOptDisabled));
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// Must be cleared
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ASSERT_TRUE(a2.empty());
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}
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{
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uavcan::BitStream bs_rd(buf);
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uavcan::ScalarCodec sc_rd(bs_rd);
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A a2;
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a2.push_back(56); // Garbage
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ASSERT_EQ(1, a2.size());
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// Will fail - no length field, but the stream is too long
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ASSERT_EQ(-1, A::decode(a2, sc_rd, uavcan::TailArrayOptEnabled));
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// Will contain some garbage
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ASSERT_EQ(5, a2.size());
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// Interpreted stream - see the values above
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ASSERT_EQ(197, a2[0]);
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ASSERT_EQ(73, a2[1]);
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ASSERT_EQ(15, a2[2]);
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ASSERT_EQ(192, a2[3]);
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ASSERT_EQ(32, a2[4]);
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}
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}
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