From fc3f0808a6dc9cd0f4bae2c4a61f817a37467c22 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sat, 11 Jul 2015 13:38:23 +0300
Subject: [PATCH] Union test

---
 .../dsdl_test/dsdl_uavcan_compilability.cpp   | 109 +++++++++++++++++-
 .../test/dsdl_test/root_ns_a/Empty.uavcan     |   0
 .../dsdl_test/root_ns_a/NestedInUnion.uavcan  |   4 +
 .../test/dsdl_test/root_ns_a/UnionTest.uavcan |   8 ++
 4 files changed, 120 insertions(+), 1 deletion(-)
 create mode 100644 libuavcan/test/dsdl_test/root_ns_a/Empty.uavcan
 create mode 100644 libuavcan/test/dsdl_test/root_ns_a/NestedInUnion.uavcan
 create mode 100644 libuavcan/test/dsdl_test/root_ns_a/UnionTest.uavcan

diff --git a/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp b/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
index eb4227c73e..153521a00c 100644
--- a/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
+++ b/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
@@ -5,6 +5,7 @@
 #include <gtest/gtest.h>
 
 #include <uavcan/helpers/ostream.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 
 #include <uavcan/Timestamp.hpp>
 #include <uavcan/protocol/GetTransportStats.hpp>
@@ -24,6 +25,8 @@
 template <typename T>
 static bool validateYaml(const T& obj, const std::string& reference)
 {
+    uavcan::OStream::instance() << "Validating YAML:\n" << obj << "\n" << uavcan::OStream::endl;
+
     std::ostringstream os;
     os << obj;
     if (os.str() == reference)
@@ -40,7 +43,7 @@ static bool validateYaml(const T& obj, const std::string& reference)
                   << "ACTUAL:\n"
                   << "\n===\n"
                   << os.str()
-                  << "===" << std::endl;
+                  << "\n===\n" << std::endl;
         return false;
     }
 }
@@ -90,3 +93,107 @@ TEST(Dsdl, Streaming)
                              "    vector: [0, 0]\n"
                              "    bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]"));
 }
+
+
+template <typename T>
+static bool encodeDecodeValidate(const T& obj, const std::string& reference_bit_string)
+{
+    uavcan::StaticTransferBuffer<256> buf;
+
+    {
+        uavcan::BitStream bits(buf);
+        uavcan::ScalarCodec codec(bits);
+        /*
+         * Coding
+         */
+        if (0 > T::encode(obj, codec))
+        {
+            std::cout << "Failed to encode" << std::endl;
+            return false;
+        }
+
+        /*
+         * Validating the encoded bitstream
+         */
+        const std::string result = bits.toString();
+        if (result != reference_bit_string)
+        {
+            std::cout << "ENCODED VALUE DOESN'T MATCH THE REFERENCE:\nEXPECTED:\n"
+                      << reference_bit_string << "\nACTUAL:\n"
+                      << result << std::endl;
+            return false;
+        }
+    }
+
+    /*
+     * Decoding back and comparing
+     */
+    uavcan::BitStream bits(buf);
+    uavcan::ScalarCodec codec(bits);
+
+    T decoded;
+
+    if (0 > T::decode(decoded, codec))
+    {
+        std::cout << "Failed to decode" << std::endl;
+        return false;
+    }
+
+    if (decoded != obj)
+    {
+        std::cout << "DECODED OBJECT DOESN'T MATCH THE REFERENCE:\nEXPECTED:\n"
+                  << obj << "\nACTUAL:\n"
+                  << decoded << std::endl;
+        return false;
+    }
+    return true;
+}
+
+
+TEST(Dsdl, Union)
+{
+    using root_ns_a::UnionTest;
+    using root_ns_a::NestedInUnion;
+
+    ASSERT_EQ(3, UnionTest::MinBitLen);
+    ASSERT_EQ(16, UnionTest::MaxBitLen);
+    ASSERT_EQ(13, NestedInUnion::MinBitLen);
+    ASSERT_EQ(13, NestedInUnion::MaxBitLen);
+
+    UnionTest s;
+
+    EXPECT_TRUE(validateYaml(s, "z: "));
+    encodeDecodeValidate(s, "00000000");
+
+    s.to<UnionTest::Tag::a>() = 16;
+    EXPECT_TRUE(validateYaml(s, "a: 16"));
+    EXPECT_TRUE(encodeDecodeValidate(s, "00110000"));
+
+    s.to<UnionTest::Tag::b>() = 31;
+    EXPECT_TRUE(validateYaml(s, "b: 31"));
+    EXPECT_TRUE(encodeDecodeValidate(s, "01011111"));
+
+    s.to<UnionTest::Tag::c>() = 256;
+    EXPECT_TRUE(validateYaml(s, "c: 256"));
+    EXPECT_TRUE(encodeDecodeValidate(s, "01100000 00000001"));
+
+    s.to<UnionTest::Tag::d>().push_back(true);
+    s.to<UnionTest::Tag::d>().push_back(false);
+    s.to<UnionTest::Tag::d>().push_back(true);
+    s.to<UnionTest::Tag::d>().push_back(true);
+    s.to<UnionTest::Tag::d>().push_back(false);
+    s.to<UnionTest::Tag::d>().push_back(false);
+    s.to<UnionTest::Tag::d>().push_back(true);
+    s.to<UnionTest::Tag::d>().push_back(true);
+    s.to<UnionTest::Tag::d>().push_back(true);
+    ASSERT_EQ(9, s.to<UnionTest::Tag::d>().size());
+    EXPECT_TRUE(validateYaml(s, "d: [1, 0, 1, 1, 0, 0, 1, 1, 1]"));
+    EXPECT_TRUE(encodeDecodeValidate(s, "10010011 01100111"));
+
+    s.to<UnionTest::Tag::e>().array[0] = 0;
+    s.to<UnionTest::Tag::e>().array[1] = 1;
+    s.to<UnionTest::Tag::e>().array[2] = 2;
+    s.to<UnionTest::Tag::e>().array[3] = 3;
+    EXPECT_TRUE(validateYaml(s, "e: \n  array: [0, 1, 2, 3]"));
+    EXPECT_TRUE(encodeDecodeValidate(s, "10100000 11011000"));
+}
diff --git a/libuavcan/test/dsdl_test/root_ns_a/Empty.uavcan b/libuavcan/test/dsdl_test/root_ns_a/Empty.uavcan
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/libuavcan/test/dsdl_test/root_ns_a/NestedInUnion.uavcan b/libuavcan/test/dsdl_test/root_ns_a/NestedInUnion.uavcan
new file mode 100644
index 0000000000..ca6785ed66
--- /dev/null
+++ b/libuavcan/test/dsdl_test/root_ns_a/NestedInUnion.uavcan
@@ -0,0 +1,4 @@
+# This should be 13 bits long
+void2                # 2 bits
+uint2[4] array       # 8 bits
+void3                # 3 bits
diff --git a/libuavcan/test/dsdl_test/root_ns_a/UnionTest.uavcan b/libuavcan/test/dsdl_test/root_ns_a/UnionTest.uavcan
new file mode 100644
index 0000000000..b143a2735f
--- /dev/null
+++ b/libuavcan/test/dsdl_test/root_ns_a/UnionTest.uavcan
@@ -0,0 +1,8 @@
+# Max bit len 16 bits
+@union          # 3 bits
+Empty         z
+uint5         a
+uint5         b # Conflicting with a
+uint13        c
+bool[<=9]     d # 4 bit length field + 9 bit payload
+NestedInUnion e