Work in progress on to/from memory BSON coding.

apps/px4/tests/test_bson.c

@@ -0,0 +1,187 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file tests_bson.c
+ *
+ * Tests for the bson en/decoder
+ */
+
+#include <stdio.h>
+#include <systemlib/err.h>
+
+#include <systemlib/bson/tinybson.h>
+#include "tests.h"
+
+static const bool test_bool = true;
+static const int32_t test_int = 32;
+static const double test_double = 2.5;
+static const char *test_string = "this is a test";
+static const uint8_t test_data[256];
+static const char *test_filename = "/fs/microsd/bson.test";
+
+static int
+encode(bson_encoder_t encoder)
+{
+
+	if (bson_encoder_append_int(encoder, "thisisanillegalbsonpropertynamebecauseitistoolong", 0) == 0)
+		warnx("FAIL: encoder: too-long node name not rejected");
+
+	if (bson_encoder_append_int(encoder, "bool1", test_bool) != 0)
+		warnx("FAIL: encoder: append bool failed");
+	if (bson_encoder_append_int(encoder, "int1", test_int) != 0)
+		warnx("FAIL: encoder: append int failed");
+	if (bson_encoder_append_double(encoder, "double1", test_double) != 0)
+		warnx("FAIL: encoder: append double failed");
+	if (bson_encoder_append_string(encoder, "string1", test_string) != 0)
+		warnx("FAIL: encoder: append string failed");
+	if (bson_encoder_append_binary(encoder, "data1", test_data) != 0)
+		warnx("FAIL: encoder: append data failed");
+
+	bson_encoder_fini(encoder);
+
+	return 0;
+}
+
+static int
+decode_callback(bson_decoder_t decoder, void *private, bson_node_t node)
+{
+	if (!strcmp(node->name, "bool1")) {
+		if (node->b != test_bool)
+			warnx("FAIL: decoder: bool1 value %s, expected %s", 
+				(node->b ? "true" : "false"),
+				(test_bool ? "true" : "false"));
+		return 1;
+	}
+	if (!strcmp(node->name, "int1")) {
+		if (node->i != test_int)
+			warnx("FAIL: decoder: int1 value %d, expected %d", node->i, test_int);
+		return 1;
+	}
+	if (!strcmp(node->name, "double1")) {
+		if (node->d != test_double)
+			warnx("FAIL: decoder: double1 value %f, expected %f", node->d, test_double);
+		return 1;
+	}
+	if (!strcmp(node->name, "string1")) {
+		unsigned len = bson_decoder_data_pending(decoder);
+
+		if (len != (strlen(test_string) + 1)) {
+			warnx("FAIL: decoder: string1 length %d wrong, expected %d", len, strlen(test_string) + 1);
+			return 1;
+
+		char sbuf[len];
+
+		if (bson_decoder_copy_data(decoder, sbuf)) {
+			warnx("FAIL: decoder: string1 copy failed");
+			return 1;
+		}
+		if (bson_decoder_data_pending(decoder) != 0) {
+			warnx("FAIL: decoder: string1 copy did not exhaust all data");
+			return 1;
+		}
+		if (sbuf[len - 1] != '\0') {
+			warnx("FAIL: decoder: string1 not 0-terminated");
+			return 1;
+		}
+		if (strcmp(sbuf, test_string)) {
+			warnx("FAIL: decoder: string1 value '%s', expected '%s'", sbuf, test_string);
+			return 1;
+		}
+		return 1;
+	}
+	if (!strcmp(node->name, "data1")) {
+		unsigned len = bson_decoder_data_pending(decoder);
+
+		if (len != sizeof(test_data)) {
+			warnx("FAIL: decoder: data1 length %d, expected %d", len, sizeof(test_data));
+			return 1;
+		}
+		
+		uint8_t dbuf[len];
+
+		if (bson_decoder_copy_data(decoder, dbuf)) {
+			warnx("FAIL: decoder: data1 copy failed");
+			return 1;
+		}
+		if (bson_decoder_data_pending(decoder) != 0) {
+			warnx("FAIL: decoder: data1 copy did not exhaust all data");
+			return 1;
+		}
+		if (memcmp(test_data, dbuf, len)) {
+			warnx("FAIL: decoder: data1 compare fail");
+			return 1;
+		}
+		return 1;
+	}
+
+	warnx("FAIL: decoder: unexpected node name '%s'", node->name);
+	return 1;
+}
+
+static int
+decode(bson_decoder_t decoder)
+{
+	int result;
+
+	do {
+		result = bson_decoder_next(decoder);
+	} while (result > 0);
+}
+
+int
+test_bson(int argc, char *argv[])
+{
+	bson_encoder_t encoder;
+	bson_decoder_t decoder;
+	void *buf;
+	int len, fd;
+
+	/* encode data to a memory buffer */
+	if (bson_encoder_init_buf(&encoder, NULL, 0))
+		errx("FAIL: bson_encoder_init_buf");
+	encode(encoder);
+	len = bson_encoder_buf_size(encoder);
+	if (len <= 0)
+		errx("FAIL: bson_encoder_buf_len");
+	buf = bson_encoder_buf_data(encoder);
+
+	/* now test-decode it */
+	if (bson_decoder_init_buf(&decoder, buf, len))
+		errx("FAIL: bson_decoder_init_buf");
+	decode(decoder);
+	free(buf);
+
+	exit(0);
+}

apps/px4/tests/tests.h

@@ -96,6 +96,7 @@ extern int	test_time(int argc, char *argv[]);
 extern int	test_uart_console(int argc, char *argv[]);
 extern int	test_jig_voltages(int argc, char *argv[]);
 extern int	test_param(int argc, char *argv[]);
+extern int	test_bson(int argc, char *argv[]);
 extern int	test_file(int argc, char *argv[]);
 
 #endif /* __APPS_PX4_TESTS_H */

apps/px4/tests/tests_main.c

@@ -109,6 +109,7 @@ struct {
 	{"all",			test_all,	OPT_NOALLTEST | OPT_NOJIGTEST, 0},
 	{"jig",			test_jig,	OPT_NOJIGTEST | OPT_NOALLTEST, 0},
 	{"param",		test_param,	0, 0},
+	{"bson",		test_bson,	0, 0},
 	{"file",		test_file,	0, 0},
 	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST, 0},
 	{NULL,			NULL, 		0, 0}

apps/px4/tests/tests_param.c

@@ -73,8 +73,6 @@ test_param(int argc, char *argv[])
 	if ((uint32_t)val != 0xa5a5a5a5)
 		errx(1, "parameter value mismatch after write");
 
-	param_export(-1, false);
-
 	warnx("parameter test PASS");
 
 	return 0;