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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 07:43:34 +08:00
Tail array optimization; untested
This commit is contained in:
Pavel Kirienko
@@ -25,38 +25,40 @@ struct CustomType
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bool operator==(const CustomType& rhs) const { return a == rhs.a && b == rhs.b && c == rhs.c; }
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static int encode(const CustomType& obj, uavcan::ScalarCodec& codec)
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static int encode(const CustomType& 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);
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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);
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res = B::encode(obj.b, codec, uavcan::TailArrayOptDisabled);
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if (res <= 0)
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return res;
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res = C::encode(obj.c, codec);
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res = C::encode(obj.c, 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(CustomType& obj, uavcan::ScalarCodec& codec)
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static int decode(CustomType& 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);
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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);
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res = B::decode(obj.b, codec, uavcan::TailArrayOptDisabled);
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if (res <= 0)
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return res;
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res = C::decode(obj.c, codec);
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res = C::decode(obj.c, codec, tao_mode);
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if (res <= 0)
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return res;
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@@ -143,16 +145,17 @@ TEST(Array, Basic)
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/*
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* Representation check
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* Note that TAO in A3 is not possible because A3::C has less than one byte per item
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*/
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uavcan::StaticTransferBuffer<16> 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, A1::encode(a1, sc_wr));
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ASSERT_EQ(1, A2::encode(a2, sc_wr));
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ASSERT_EQ(1, A3::encode(a3, sc_wr));
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ASSERT_EQ(1, A1::encode(a1, sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, A2::encode(a2, sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, A3::encode(a3, sc_wr, uavcan::TailArrayOptEnabled));
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ASSERT_EQ(0, A3::encode(a3, sc_wr)); // Out of buffer space
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ASSERT_EQ(0, A3::encode(a3, sc_wr, uavcan::TailArrayOptEnabled)); // Out of buffer space
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static const std::string Reference =
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"00000000 00000001 00000010 00000011 " // A1 (0, 1, 2, 3)
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@@ -172,9 +175,9 @@ TEST(Array, Basic)
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A2 a2_;
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A3 a3_;
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ASSERT_EQ(1, A1::decode(a1_, sc_rd));
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ASSERT_EQ(1, A2::decode(a2_, sc_rd));
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ASSERT_EQ(1, A3::decode(a3_, sc_rd));
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ASSERT_EQ(1, A1::decode(a1_, sc_rd, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, A2::decode(a2_, sc_rd, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, A3::decode(a3_, sc_rd, uavcan::TailArrayOptEnabled));
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ASSERT_EQ(a1_, a1);
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ASSERT_EQ(a2_, a2);
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@@ -193,7 +196,7 @@ TEST(Array, Basic)
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ASSERT_EQ(a3[i].c, a3_[i].c);
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}
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ASSERT_EQ(0, A3::decode(a3_, sc_rd)); // Out of buffer space
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ASSERT_EQ(0, A3::decode(a3_, sc_rd, uavcan::TailArrayOptEnabled)); // Out of buffer space
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/*
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* STL compatibility
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@@ -252,31 +255,36 @@ TEST(Array, Dynamic)
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A a;
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B b;
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B b2;
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ASSERT_EQ(3 + 5, A::MaxBitLen);
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ASSERT_EQ(8 + 255 * 8, B::MaxBitLen);
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ASSERT_TRUE(a.empty());
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ASSERT_TRUE(b.empty());
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ASSERT_TRUE(b2.empty());
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{
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uavcan::StaticTransferBuffer<16> 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, A::encode(a, sc_wr));
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ASSERT_EQ(1, B::encode(b, sc_wr));
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ASSERT_EQ(1, A::encode(a, sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, B::encode(b, sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, B::encode(b2, sc_wr, uavcan::TailArrayOptEnabled));
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ASSERT_EQ("000" "00000 000" "00000", bs_wr.toString());
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ASSERT_EQ("000" "00000 000" "00000", bs_wr.toString()); // Last array was optimized away completely
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uavcan::BitStream bs_rd(buf);
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uavcan::ScalarCodec sc_rd(bs_rd);
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ASSERT_EQ(1, A::decode(a, sc_rd));
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ASSERT_EQ(1, B::decode(b, sc_rd));
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ASSERT_EQ(1, A::decode(a, sc_rd, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, B::decode(b, sc_rd, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, B::decode(b2, sc_rd, uavcan::TailArrayOptEnabled));
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ASSERT_TRUE(a.empty());
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ASSERT_TRUE(b.empty());
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ASSERT_TRUE(b2.empty());
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}
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a.push_back(true);
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@@ -288,26 +296,38 @@ TEST(Array, Dynamic)
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b.push_back(42);
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b.push_back(-42);
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b2.push_back(123);
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b2.push_back(72);
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{
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uavcan::StaticTransferBuffer<16> 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, A::encode(a, sc_wr));
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ASSERT_EQ(1, B::encode(b, sc_wr));
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ASSERT_EQ(1, A::encode(a, sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, B::encode(b, sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, B::encode(b2, sc_wr, uavcan::TailArrayOptEnabled)); // No length field
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ASSERT_EQ("10110101 00000010 00101010 11010110", bs_wr.toString());
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// A B len B[0] B[1] B2[0] B2[1]
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ASSERT_EQ("10110101 00000010 00101010 11010110 01111011 01001000", bs_wr.toString());
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uavcan::BitStream bs_rd(buf);
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uavcan::ScalarCodec sc_rd(bs_rd);
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a.clear();
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b.clear();
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b2.clear();
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ASSERT_TRUE(a.empty());
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ASSERT_TRUE(b.empty());
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ASSERT_TRUE(b2.empty());
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ASSERT_EQ(1, A::decode(a, sc_rd));
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ASSERT_EQ(1, B::decode(b, sc_rd));
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ASSERT_EQ(1, A::decode(a, sc_rd, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, B::decode(b, sc_rd, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, B::decode(b2, sc_rd, uavcan::TailArrayOptEnabled));
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ASSERT_EQ(5, a.size());
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ASSERT_EQ(2, b.size());
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ASSERT_EQ(2, b2.size());
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ASSERT_TRUE(a[0]);
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ASSERT_FALSE(a[1]);
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@@ -317,6 +337,9 @@ TEST(Array, Dynamic)
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ASSERT_EQ(42, b[0]);
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ASSERT_EQ(-42, b[1]);
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ASSERT_EQ(123, b2[0]);
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ASSERT_EQ(72, b2[1]);
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}
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ASSERT_FALSE(a == b);
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@@ -103,15 +103,15 @@ TEST(FloatSpec, Basic)
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for (int i = 0; i < NumValues; i++)
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{
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ASSERT_EQ(1, F16S::encode(Values[i], sc_wr));
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ASSERT_EQ(1, F16T::encode(Values[i], sc_wr));
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ASSERT_EQ(1, F32S::encode(Values[i], sc_wr));
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ASSERT_EQ(1, F32T::encode(Values[i], sc_wr));
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ASSERT_EQ(1, F64S::encode(Values[i], sc_wr));
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ASSERT_EQ(1, F64T::encode(Values[i], sc_wr));
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ASSERT_EQ(1, F16S::encode(Values[i], sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, F16T::encode(Values[i], sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, F32S::encode(Values[i], sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, F32T::encode(Values[i], sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, F64S::encode(Values[i], sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, F64T::encode(Values[i], sc_wr, uavcan::TailArrayOptDisabled));
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}
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ASSERT_EQ(0, F16S::encode(0, sc_wr)); // Out of buffer space now
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ASSERT_EQ(0, F16S::encode(0, sc_wr, uavcan::TailArrayOptDisabled)); // Out of buffer space now
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/*
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* Reading
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@@ -122,7 +122,7 @@ TEST(FloatSpec, Basic)
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#define CHECK(FloatType, expected_value) \
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do { \
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StorageType<FloatType>::Type var = StorageType<FloatType>::Type(); \
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ASSERT_EQ(1, FloatType::decode(var, sc_rd)); \
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ASSERT_EQ(1, FloatType::decode(var, sc_rd, uavcan::TailArrayOptDisabled)); \
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if (!isnan(expected_value)) \
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ASSERT_FLOAT_EQ(expected_value, var); \
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else \
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@@ -155,14 +155,14 @@ TEST(FloatSpec, Float16Representation)
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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, F16S::encode(0.0, sc_wr));
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ASSERT_EQ(1, F16S::encode(1.0, sc_wr));
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ASSERT_EQ(1, F16S::encode(-2.0, sc_wr));
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ASSERT_EQ(1, F16T::encode(999999, sc_wr)); // +inf
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ASSERT_EQ(1, F16S::encode(-999999, sc_wr)); // -max
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ASSERT_EQ(1, F16S::encode(nan(""), sc_wr)); // nan
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ASSERT_EQ(1, F16S::encode(0.0, sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, F16S::encode(1.0, sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, F16S::encode(-2.0, sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, F16T::encode(999999, sc_wr, uavcan::TailArrayOptDisabled)); // +inf
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ASSERT_EQ(1, F16S::encode(-999999, sc_wr, uavcan::TailArrayOptDisabled)); // -max
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ASSERT_EQ(1, F16S::encode(nan(""), sc_wr, uavcan::TailArrayOptDisabled)); // nan
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ASSERT_EQ(0, F16S::encode(0, sc_wr)); // Out of buffer space now
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ASSERT_EQ(0, F16S::encode(0, sc_wr, uavcan::TailArrayOptDisabled)); // Out of buffer space now
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static const std::string Reference = // Keep in mind that this is LITTLE ENDIAN representation
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"00000000 00000000 " // 0.0
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@@ -70,15 +70,15 @@ TEST(IntegerSpec, Basic)
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typedef IntegerSpec<10, SignednessSigned, CastModeSaturate> SInt10S;
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typedef IntegerSpec<1, SignednessUnsigned, CastModeSaturate> UInt1S;
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ASSERT_EQ(1, UInt8S::encode(UInt8S::StorageType(123), sc_wr));
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ASSERT_EQ(1, SInt4T::encode(SInt4T::StorageType(-0x44), sc_wr));
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ASSERT_EQ(1, UInt32T::encode(UInt32T::StorageType(0xFFFFFFFF), sc_wr));
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ASSERT_EQ(1, UInt40S::encode(UInt40S::StorageType(0xFFFFFFFFFFFFFFFF), sc_wr));
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ASSERT_EQ(1, UInt64T::encode(UInt64T::StorageType(0xFFFFFFFFFFFFFFFF), sc_wr));
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ASSERT_EQ(1, SInt58S::encode(SInt58S::StorageType(0xFFFFFFFFFFFFFFF), sc_wr));
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ASSERT_EQ(1, UInt63S::encode(UInt63S::StorageType(0xFFFFFFFFFFFFFFFF), sc_wr));
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ASSERT_EQ(1, SInt10S::encode(SInt10S::StorageType(-30000), sc_wr));
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ASSERT_EQ(1, UInt1S::encode(UInt1S::StorageType(42), sc_wr));
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ASSERT_EQ(1, UInt8S::encode(UInt8S::StorageType(123), sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, SInt4T::encode(SInt4T::StorageType(-0x44), sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, UInt32T::encode(UInt32T::StorageType(0xFFFFFFFF), sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, UInt40S::encode(UInt40S::StorageType(0xFFFFFFFFFFFFFFFF), sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, UInt64T::encode(UInt64T::StorageType(0xFFFFFFFFFFFFFFFF), sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, SInt58S::encode(SInt58S::StorageType(0xFFFFFFFFFFFFFFF), sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, UInt63S::encode(UInt63S::StorageType(0xFFFFFFFFFFFFFFFF), sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, SInt10S::encode(SInt10S::StorageType(-30000), sc_wr, uavcan::TailArrayOptDisabled));
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ASSERT_EQ(1, UInt1S::encode(UInt1S::StorageType(42), sc_wr, uavcan::TailArrayOptDisabled));
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std::cout << bs_wr.toString() << std::endl;
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@@ -88,7 +88,7 @@ TEST(IntegerSpec, Basic)
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#define CHECK(IntType, expected_value) \
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do { \
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StorageType<IntType>::Type var = StorageType<IntType>::Type(); \
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ASSERT_EQ(1, IntType::decode(var, sc_rd)); \
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ASSERT_EQ(1, IntType::decode(var, sc_rd, uavcan::TailArrayOptDisabled)); \
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ASSERT_EQ(expected_value, var); \
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} while (0)
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@@ -105,5 +105,5 @@ TEST(IntegerSpec, Basic)
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#undef CHECK
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StorageType<UInt1S>::Type var;
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ASSERT_EQ(0, UInt1S::decode(var, sc_rd));
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ASSERT_EQ(0, UInt1S::decode(var, sc_rd, uavcan::TailArrayOptDisabled));
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}
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