PX4-Autopilot/libuavcan/test/dsdl_test/dsdl_test.cpp

/*
 * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#if __GNUC__
# pragma GCC diagnostic ignored "-Wfloat-equal"
#endif

#include <gtest/gtest.h>
#include <uavcan/transport/transfer_buffer.hpp>
#include <limits>
#include <root_ns_a/EmptyService.hpp>
#include <root_ns_a/EmptyMessage.hpp>
#include <root_ns_a/NestedMessage.hpp>
#include <root_ns_a/A.hpp>
#include <root_ns_a/ReportBackSoldier.hpp>
#include <root_ns_b/ServiceWithEmptyRequest.hpp>
#include <root_ns_b/ServiceWithEmptyResponse.hpp>
#include <root_ns_b/T.hpp>


TEST(Dsdl, EmptyServices)
{
    uavcan::StaticTransferBuffer<100> buf;
    uavcan::BitStream bs_wr(buf);
    uavcan::ScalarCodec sc_wr(bs_wr);

    root_ns_b::ServiceWithEmptyRequest::Request req;
    ASSERT_EQ(1, root_ns_b::ServiceWithEmptyRequest::Request::encode(req, sc_wr));
    ASSERT_EQ("", bs_wr.toString());

    root_ns_b::ServiceWithEmptyRequest::Response resp;
    ASSERT_EQ(1, root_ns_b::ServiceWithEmptyRequest::Response::encode(resp, sc_wr));
    ASSERT_EQ("", bs_wr.toString());

    resp.covariance.push_back(-2);
    resp.covariance.push_back(65504);
    root_ns_b::ServiceWithEmptyRequest::Response::encode(resp, sc_wr);
    ASSERT_EQ("00000000 11000000 11111111 01111011", bs_wr.toString());

    resp.covariance.push_back(42);
    resp.covariance[0] = 999;

    uavcan::BitStream bs_rd(buf);
    uavcan::ScalarCodec sc_rd(bs_rd);
    ASSERT_EQ(1, root_ns_b::ServiceWithEmptyRequest::Response::decode(resp, sc_rd));

    ASSERT_EQ(2, resp.covariance.size());
    ASSERT_EQ(-2, resp.covariance[0]);
    ASSERT_EQ(65504, resp.covariance[1]);
}


TEST(Dsdl, Signature)
{
    ASSERT_EQ(0xe74617107a34aa9c, root_ns_a::EmptyService::getDataTypeSignature().get());
    ASSERT_STREQ("root_ns_a.EmptyService", root_ns_a::EmptyService::getDataTypeFullName());
    ASSERT_EQ(uavcan::DataTypeKindService, root_ns_a::EmptyService::DataTypeKind);

    ASSERT_EQ(0x99604d7066e0d713, root_ns_a::NestedMessage::getDataTypeSignature().get());  // Computed manually
    ASSERT_STREQ("root_ns_a.NestedMessage", root_ns_a::NestedMessage::getDataTypeFullName());
    ASSERT_EQ(uavcan::DataTypeKindMessage, root_ns_a::NestedMessage::DataTypeKind);
}


TEST(Dsdl, Operators)
{
    {
        root_ns_a::EmptyService::Request a, b;
        ASSERT_TRUE(a == b);
        ASSERT_FALSE(a != b);
    }
    {
        root_ns_a::NestedMessage c, d;
        ASSERT_TRUE(c == d);
        ASSERT_FALSE(c != d);

        c.field = 1;
        ASSERT_FALSE(c == d);
        ASSERT_TRUE(c != d);
    }
}


TEST(Dsdl, CloseComparison)
{
    root_ns_a::A first, second;

    ASSERT_TRUE(first == second);

    first.vector[1].vector[1] = std::numeric_limits<double>::epsilon();
    ASSERT_TRUE(first.isClose(second));       // Still close
    ASSERT_FALSE(first == second);            // But not exactly

    first.vector[1].vector[1] = std::numeric_limits<float>::epsilon();
    ASSERT_FALSE(first.isClose(second));      // Nope
    ASSERT_FALSE(first == second);            // Ditto
}

/*
 * This test assumes that it will be executed before other GDTR tests; otherwise it fails.
 * TODO: Probably it needs to be called directly from main()
 */
//TEST(Dsdl, Registration)
//{
//    using uavcan::GlobalDataTypeRegistry;
//    /*
//     * Descriptors
//     */
//    const uavcan::DataTypeDescriptor* desc = NULL;
//
//    desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, "root_ns_a.EmptyMessage");
//    ASSERT_TRUE(desc);
//    ASSERT_EQ(root_ns_a::EmptyMessage::DefaultDataTypeID, desc->getID());
//    ASSERT_EQ(root_ns_a::EmptyMessage::DataTypeKind, desc->getKind());
//    ASSERT_EQ(root_ns_a::EmptyMessage::getDataTypeSignature(), desc->getSignature());
//    ASSERT_STREQ(root_ns_a::EmptyMessage::getDataTypeFullName(), desc->getFullName());
//
//    desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "root_ns_a.EmptyService");
//    ASSERT_TRUE(desc);
//    ASSERT_EQ(root_ns_a::EmptyService::DefaultDataTypeID, desc->getID());
//    ASSERT_EQ(root_ns_a::EmptyService::DataTypeKind, desc->getKind());
//    ASSERT_EQ(root_ns_a::EmptyService::getDataTypeSignature(), desc->getSignature());
//    ASSERT_STREQ(root_ns_a::EmptyService::getDataTypeFullName(), desc->getFullName());
//
//    desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "root_ns_a.ReportBackSoldier");
//    ASSERT_TRUE(desc);
//    ASSERT_EQ(root_ns_a::ReportBackSoldier::DefaultDataTypeID, desc->getID());
//    ASSERT_EQ(root_ns_a::ReportBackSoldier::DataTypeKind, desc->getKind());
//    ASSERT_EQ(root_ns_a::ReportBackSoldier::getDataTypeSignature(), desc->getSignature());
//    ASSERT_STREQ(root_ns_a::ReportBackSoldier::getDataTypeFullName(), desc->getFullName());
//
//    /*
//     * Mask
//     */
//    uavcan::DataTypeIDMask mask;
//
//    GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, mask);
//    ASSERT_TRUE(mask[8]);
//    mask[8] = false;
//
//    GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindService, mask);
//    ASSERT_TRUE(mask[1]);
//    ASSERT_TRUE(mask[3]);
//    mask[1] = mask[3] = false;
//
//    /*
//     * Reset
//     */
//    GlobalDataTypeRegistry::instance().reset();
//    ASSERT_FALSE(GlobalDataTypeRegistry::instance().isFrozen());
//}