ScalarCodec implementation; more tests to come

2026-04-28 03:04:08 +08:00 · 2014-02-21 00:29:15 +04:00 · 2014-02-21 00:29:15 +04:00 · dc3111c77d
commit dc3111c77d
parent 361cf53265
3 changed files with 231 additions and 0 deletions
--- a/libuavcan/include/uavcan/internal/marshalling/scalar_codec.hpp
+++ b/libuavcan/include/uavcan/internal/marshalling/scalar_codec.hpp
@ -0,0 +1,143 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <cassert>
+#include <stdint.h>
+#include <limits>
+#include <string>
+#include <uavcan/internal/util.hpp>
+#include <uavcan/internal/marshalling/bit_stream.hpp>
+
+namespace uavcan
+{
+
+class ScalarCodec
+{
+    BitStream& stream_;
+
+    template <int SIZE>
+    static void swapByteOrder(uint8_t (&bytes)[SIZE])
+    {
+        for (int i = 0, j = SIZE - 1; i < j; i++, j--)
+        {
+            const uint8_t c = bytes[i];
+            bytes[i] = bytes[j];
+            bytes[j] = c;
+        }
+    }
+
+    template <int BITLEN, int SIZE>
+    static typename EnableIf<(BITLEN > 8)>::Type
+    convertByteOrder(uint8_t (&bytes)[SIZE])
+    {
+#if defined(BYTE_ORDER) && defined(BIG_ENDIAN)
+        static const bool big_endian = BYTE_ORDER == BIG_ENDIAN;
+#else
+        union { long int l; char c[sizeof(long int)]; } u;
+        u.l = 1;
+        const bool big_endian = u.c[sizeof(long int) - 1] == 1;
+#endif
+        if (big_endian)
+            swapByteOrder(bytes);
+    }
+
+    template <int BITLEN, int SIZE>
+    static typename EnableIf<(BITLEN <= 8)>::Type
+    convertByteOrder(uint8_t (&bytes)[SIZE])
+    {
+        (void)bytes;
+    }
+
+    template <int BITLEN, typename T>
+    static typename EnableIf<std::numeric_limits<T>::is_signed && ((sizeof(T) * 8) > BITLEN)>::Type
+    fixTwosComplement(T& value)
+    {
+        StaticAssert<std::numeric_limits<T>::is_integer>::check(); // Not applicable to floating point types
+
+        if (value & (T(1) << (BITLEN - 1)))                        // The most significant bit is set --> negative
+            value |= 0xFFFFFFFFFFFFFFFF & ~((T(1) << BITLEN) - 1);
+    }
+
+    template <int BITLEN, typename T>
+    static typename EnableIf<!std::numeric_limits<T>::is_signed || ((sizeof(T) * 8) == BITLEN)>::Type
+    fixTwosComplement(T& value)
+    {
+        (void)value;
+    }
+
+    template <int BITLEN, typename T>
+    static typename EnableIf<((sizeof(T) * 8) > BITLEN)>::Type
+    clearExtraBits(T& value)
+    {
+        value &= (1 << BITLEN) - 1;  // Signedness doesn't matter
+    }
+
+    template <int BITLEN, typename T>
+    static typename EnableIf<((sizeof(T) * 8) == BITLEN)>::Type
+    clearExtraBits(T& value)
+    {
+        (void)value;
+    }
+
+    template <int BITLEN, typename T>
+    void validate()
+    {
+        StaticAssert<((sizeof(T) * 8) >= BITLEN)>::check();
+        StaticAssert<(BITLEN <= BitStream::MAX_BITS_PER_RW)>::check();
+        StaticAssert<std::numeric_limits<T>::is_signed ? (BITLEN > 1) : 1>::check();
+    }
+
+public:
+    ScalarCodec(BitStream& stream)
+    : stream_(stream)
+    { }
+
+    template <int BITLEN, typename T>
+    int encode(const T value)
+    {
+        validate<BITLEN, T>();
+        union ByteUnion
+        {
+            T value;
+            uint8_t bytes[sizeof(T)];
+        } byte_union;
+        byte_union.value = value;
+
+        clearExtraBits<BITLEN>(byte_union.value);
+        convertByteOrder<BITLEN>(byte_union.bytes);
+
+        // Underlying stream class assumes that more significant bits have lower index, so we need to shift some.
+        byte_union.bytes[BITLEN / 8] <<= (8 - (BITLEN % 8)) & 7;
+
+        return stream_.write(byte_union.bytes, BITLEN);
+    }
+
+    template <int BITLEN, typename T>
+    int decode(T& value)
+    {
+        validate<BITLEN, T>();
+        union ByteUnion
+        {
+            T value;
+            uint8_t bytes[sizeof(T)];
+        } byte_union;
+        std::fill(byte_union.bytes, byte_union.bytes + sizeof(T), 0);
+
+        const int read_res = stream_.read(byte_union.bytes, BITLEN);
+        if (read_res <= 0)
+            return read_res;
+
+        byte_union.bytes[BITLEN / 8] >>= (8 - (BITLEN % 8)) & 7;  // As in encode(), vice versa
+
+        convertByteOrder<BITLEN>(byte_union.bytes);
+        fixTwosComplement<BITLEN>(byte_union.value);
+
+        value = byte_union.value;
+        return read_res;
+    }
+};
+
+}
--- a/libuavcan/include/uavcan/internal/util.hpp
+++ b/libuavcan/include/uavcan/internal/util.hpp
@ -36,4 +36,11 @@ protected:
    Noncopyable() { }
 };

+
+template<bool B, typename T = void>
+struct EnableIf { };
+
+template<typename T>
+struct EnableIf<true, T> { typedef T Type; };
+
 }
--- a/libuavcan/test/marshalling/scalar_codec.cpp
+++ b/libuavcan/test/marshalling/scalar_codec.cpp
@ -0,0 +1,81 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/internal/marshalling/scalar_codec.hpp>
+
+
+TEST(ScalarCodec, Basic)
+{
+    uavcan::StaticTransferBuffer<38> buf;
+    uavcan::BitStream bs_wr(buf);
+    uavcan::ScalarCodec sc_wr(bs_wr);
+
+    {
+        uint64_t u64 = 0;
+        ASSERT_EQ(0, sc_wr.decode<64>(u64));    // Out of buffer space
+    }
+
+    /*
+     * Encoding some variables
+     */
+    ASSERT_EQ(1, sc_wr.encode<12>((uint16_t)0xbeda));    // --> 0xeda
+    ASSERT_EQ(1, sc_wr.encode<1>((uint8_t)1));
+    ASSERT_EQ(1, sc_wr.encode<1>((uint16_t)0));
+    ASSERT_EQ(1, sc_wr.encode<4>((uint8_t)8));
+    ASSERT_EQ(1, sc_wr.encode<32>((uint32_t)0xdeadbeef));
+    ASSERT_EQ(1, sc_wr.encode<3>((int8_t)-1));
+    ASSERT_EQ(1, sc_wr.encode<4>((int8_t)-6));
+    ASSERT_EQ(1, sc_wr.encode<20>((int32_t)-123456));
+    ASSERT_EQ(1, sc_wr.encode<64>(std::numeric_limits<int64_t>::min()));
+    ASSERT_EQ(1, sc_wr.encode<64>(std::numeric_limits<int64_t>::max()));
+    ASSERT_EQ(1, sc_wr.encode<15>((int16_t)-1));
+    ASSERT_EQ(1, sc_wr.encode<2>((int16_t)-1));
+    ASSERT_EQ(1, sc_wr.encode<16>(std::numeric_limits<int16_t>::min()));
+    ASSERT_EQ(1, sc_wr.encode<64>(std::numeric_limits<uint64_t>::max())); // Total 302 bit (38 bytes)
+
+    ASSERT_EQ(0, sc_wr.encode<64>(std::numeric_limits<uint64_t>::min())); // Out of buffer space
+
+    /*
+     * Decoding back
+     */
+    uavcan::BitStream bs_rd(buf);
+    uavcan::ScalarCodec sc_rd(bs_rd);
+
+    uint8_t u8   = 0;
+    int8_t i8    = 0;
+    uint16_t u16 = 0;
+    int16_t i16  = 0;
+    uint32_t u32 = 0;
+    int32_t i32  = 0;
+    uint64_t u64 = 0;
+    int64_t i64  = 0;
+
+#define CHECK(bitlen, variable, expected_value) \
+    do { \
+        ASSERT_EQ(1, sc_rd.decode<bitlen>(variable)); \
+        ASSERT_EQ(expected_value, variable); \
+    } while (0)
+
+    CHECK(12, u16, 0xeda);
+    CHECK(1,  u8,  1);
+    CHECK(1,  u16, 0);
+    CHECK(4,  u8,  8);
+    CHECK(32, u32, 0xdeadbeef);
+    CHECK(3,  i8,  -1);
+    CHECK(4,  i8,  -6);
+    CHECK(20, i32, -123456);
+    CHECK(64, i64, std::numeric_limits<int64_t>::min());
+    CHECK(64, i64, std::numeric_limits<int64_t>::max());
+    CHECK(15, i16, -1);
+    CHECK(2,  i8,  -1);
+    CHECK(16, i16, std::numeric_limits<int16_t>::min());
+    CHECK(64, u64, std::numeric_limits<uint64_t>::max());
+
+#undef CHECK
+}
+
+TEST(ScalarCodec, RepresentationCorrectness)
+{
+}