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Refactored unions

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This commit is contained in:
Pavel Kirienko
2015-07-11 11:35:26 +03:00
parent 903d88b8d1
commit e6aeb036e8
4 changed files with 49 additions and 95 deletions
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libuavcan/test/protocol/param_server.cpp
+15 -12
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@@ -32,22 +32,22 @@ struct ParamServerTestManager : public uavcan::IParamManager
KeyValue::iterator it = kv.find(name.c_str());
if (it != kv.end())
{
if (value.is<bool>())
if (value.is(Value::Tag::boolean_value))
{
assert(value.getTag() == Value::Tag::boolean_value);
it->second = double(value.boolean_value);
}
else if (value.is<Value::FieldTypes::integer_value>())
else if (value.is(Value::Tag::integer_value))
{
assert(value.getTag() == Value::Tag::integer_value);
it->second = double(value.integer_value);
}
else if (value.is<float>())
else if (value.is(Value::Tag::real_value))
{
assert(value.getTag() == Value::Tag::real_value);
it->second = double(value.real_value);
}
else if (value.is<Value::FieldTypes::string_value>())
else if (value.is(Value::Tag::string_value))
{
assert(value.getTag() == Value::Tag::string_value);
it->second = std::atof(value.string_value.c_str());
@@ -65,7 +65,7 @@ struct ParamServerTestManager : public uavcan::IParamManager
KeyValue::const_iterator it = kv.find(name.c_str());
if (it != kv.end())
{
out_value = float(it->second);
out_value.to<Value::Tag::real_value>() = float(it->second);
assert(out_value.getTag() == Value::Tag::real_value);
}
std::cout << "READ [" << name.c_str() << "]\n" << out_value << "\n---" << std::endl;
@@ -141,10 +141,10 @@ TEST(ParamServer, Basic)
// No such variable, shall return empty name/value
get_set_rq.index = 0;
get_set_rq.name.clear();
get_set_rq.value = uavcan::int64_t(0xDEADBEEF);
get_set_rq.value.to<uavcan::protocol::param::Value::Tag::integer_value>() = 0xDEADBEEF;
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_TRUE(get_set_cln.collector.result->getResponse().name.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.is<uavcan::protocol::param::Empty>());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.is(uavcan::protocol::param::Value::Tag::empty));
mgr.kv["foobar"] = 123.456; // New param
@@ -153,21 +153,24 @@ TEST(ParamServer, Basic)
get_set_rq.name = "foobar";
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_STREQ("foobar", get_set_cln.collector.result->getResponse().name.c_str());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.is<float>());
ASSERT_FLOAT_EQ(123.456F, get_set_cln.collector.result->getResponse().value.to<float>());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.is(uavcan::protocol::param::Value::Tag::real_value));
ASSERT_FLOAT_EQ(123.456F, get_set_cln.collector.result->getResponse().value.
to<uavcan::protocol::param::Value::Tag::real_value>());
// Set by index
get_set_rq = uavcan::protocol::param::GetSet::Request();
get_set_rq.index = 0;
get_set_rq.value = uavcan::protocol::param::Value::FieldTypes::string_value("424242");
get_set_rq.value.to<uavcan::protocol::param::Value::Tag::string_value>() = "424242";
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_STREQ("foobar", get_set_cln.collector.result->getResponse().name.c_str());
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->getResponse().value.to<float>());
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->getResponse().value.
to<uavcan::protocol::param::Value::Tag::real_value>());
// Get by index
get_set_rq = uavcan::protocol::param::GetSet::Request();
get_set_rq.index = 0;
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_STREQ("foobar", get_set_cln.collector.result->getResponse().name.c_str());
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->getResponse().value.to<float>());
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->getResponse().value.
to<uavcan::protocol::param::Value::Tag::real_value>());
}