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https://github.com/wpilibsuite/allwpilib
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[wpiutil] Change Struct to allow non-constexpr implementation (#5992)
This required changing the constant values (e.g. kSize) into functions (e.g. GetSize()). Fixed implementations of ForEachNested to be inline (as these are actually templates). Also added a ntcore Struct test.
This commit is contained in:
Peter Johnson
296
ntcore/src/test/native/cpp/StructTest.cpp
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296
ntcore/src/test/native/cpp/StructTest.cpp
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <gtest/gtest.h>
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#include <wpi/SpanMatcher.h>
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#include <wpi/struct/Struct.h>
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#include "networktables/NetworkTableInstance.h"
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#include "networktables/StructArrayTopic.h"
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#include "networktables/StructTopic.h"
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namespace {
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struct Inner {
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int a;
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int b;
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};
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struct Outer {
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Inner inner;
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int c;
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};
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struct Inner2 {
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int a;
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int b;
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};
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struct Outer2 {
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Inner2 inner;
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int c;
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};
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} // namespace
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template <>
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struct wpi::Struct<Inner> {
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static constexpr std::string_view GetTypeString() { return "struct:Inner"; }
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static constexpr size_t GetSize() { return 8; }
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static constexpr std::string_view GetSchema() { return "int32 a; int32 b"; }
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static Inner Unpack(std::span<const uint8_t> data) {
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return {wpi::UnpackStruct<int32_t, 0>(data),
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wpi::UnpackStruct<int32_t, 4>(data)};
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}
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static void Pack(std::span<uint8_t> data, const Inner& value) {
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wpi::PackStruct<0>(data, value.a);
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wpi::PackStruct<4>(data, value.b);
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}
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};
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template <>
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struct wpi::Struct<Outer> {
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static constexpr std::string_view GetTypeString() { return "struct:Outer"; }
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static constexpr size_t GetSize() { return wpi::GetStructSize<Inner>() + 4; }
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static constexpr std::string_view GetSchema() {
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return "Inner inner; int32 c";
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}
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static Outer Unpack(std::span<const uint8_t> data) {
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constexpr size_t innerSize = wpi::GetStructSize<Inner>();
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return {wpi::UnpackStruct<Inner, 0>(data),
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wpi::UnpackStruct<int32_t, innerSize>(data)};
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}
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static void Pack(std::span<uint8_t> data, const Outer& value) {
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constexpr size_t innerSize = wpi::GetStructSize<Inner>();
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wpi::PackStruct<0>(data, value.inner);
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wpi::PackStruct<innerSize>(data, value.c);
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}
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static void ForEachNested(
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std::invocable<std::string_view, std::string_view> auto fn) {
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wpi::ForEachStructSchema<Inner>(fn);
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}
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};
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template <>
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struct wpi::Struct<Inner2> {
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static std::string_view GetTypeString() { return "struct:Inner2"; }
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static size_t GetSize() { return 8; }
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static std::string_view GetSchema() { return "int32 a; int32 b"; }
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static Inner2 Unpack(std::span<const uint8_t> data) {
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return {wpi::UnpackStruct<int32_t, 0>(data),
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wpi::UnpackStruct<int32_t, 4>(data)};
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}
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static void Pack(std::span<uint8_t> data, const Inner2& value) {
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wpi::PackStruct<0>(data, value.a);
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wpi::PackStruct<4>(data, value.b);
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}
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};
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template <>
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struct wpi::Struct<Outer2> {
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static std::string_view GetTypeString() { return "struct:Outer2"; }
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static size_t GetSize() { return wpi::GetStructSize<Inner>() + 4; }
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static std::string_view GetSchema() { return "Inner2 inner; int32 c"; }
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static Outer2 Unpack(std::span<const uint8_t> data) {
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size_t innerSize = wpi::GetStructSize<Inner2>();
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return {wpi::UnpackStruct<Inner2, 0>(data),
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wpi::UnpackStruct<int32_t>(data.subspan(innerSize))};
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}
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static void Pack(std::span<uint8_t> data, const Outer2& value) {
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size_t innerSize = wpi::GetStructSize<Inner2>();
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wpi::PackStruct<0>(data, value.inner);
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wpi::PackStruct(data.subspan(innerSize), value.c);
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}
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static void ForEachNested(
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std::invocable<std::string_view, std::string_view> auto fn) {
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wpi::ForEachStructSchema<Inner2>(fn);
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}
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};
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namespace nt {
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class StructTest : public ::testing::Test {
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public:
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StructTest() { inst = nt::NetworkTableInstance::Create(); }
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~StructTest() { nt::NetworkTableInstance::Destroy(inst); }
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nt::NetworkTableInstance inst;
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};
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TEST_F(StructTest, InnerConstexpr) {
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nt::StructTopic<Inner> topic = inst.GetStructTopic<Inner>("inner");
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nt::StructPublisher<Inner> pub = topic.Publish();
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nt::StructSubscriber<Inner> sub = topic.Subscribe({});
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ASSERT_EQ(topic.GetTypeString(), "struct:Inner");
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pub.SetDefault({0, 1});
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Inner val = sub.Get();
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ASSERT_EQ(val.a, 0);
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ASSERT_EQ(val.b, 1);
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pub.Set({1, 2});
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auto atomicVal = sub.GetAtomic();
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ASSERT_EQ(atomicVal.value.a, 1);
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ASSERT_EQ(atomicVal.value.b, 2);
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Inner val2;
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sub.GetInto(&val2);
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ASSERT_EQ(val2.a, 1);
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ASSERT_EQ(val2.b, 2);
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auto vals = sub.ReadQueue();
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ASSERT_EQ(vals.size(), 1u);
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ASSERT_EQ(vals[0].value.a, 1);
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ASSERT_EQ(vals[0].value.b, 2);
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}
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TEST_F(StructTest, InnerNonconstexpr) {
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nt::StructTopic<Inner2> topic = inst.GetStructTopic<Inner2>("inner2");
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nt::StructPublisher<Inner2> pub = topic.Publish();
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nt::StructSubscriber<Inner2> sub = topic.Subscribe({});
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ASSERT_EQ(topic.GetTypeString(), "struct:Inner2");
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pub.SetDefault({0, 1});
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Inner2 val = sub.Get();
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ASSERT_EQ(val.a, 0);
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ASSERT_EQ(val.b, 1);
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pub.Set({1, 2});
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auto atomicVal = sub.GetAtomic();
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ASSERT_EQ(atomicVal.value.a, 1);
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ASSERT_EQ(atomicVal.value.b, 2);
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Inner2 val2;
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sub.GetInto(&val2);
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ASSERT_EQ(val2.a, 1);
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ASSERT_EQ(val2.b, 2);
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auto vals = sub.ReadQueue();
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ASSERT_EQ(vals.size(), 1u);
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ASSERT_EQ(vals[0].value.a, 1);
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ASSERT_EQ(vals[0].value.b, 2);
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}
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TEST_F(StructTest, OuterConstexpr) {
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nt::StructTopic<Outer> topic = inst.GetStructTopic<Outer>("outer");
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nt::StructPublisher<Outer> pub = topic.Publish();
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nt::StructSubscriber<Outer> sub = topic.Subscribe({});
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ASSERT_EQ(topic.GetTypeString(), "struct:Outer");
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pub.SetDefault({{0, 1}, 2});
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Outer val = sub.Get();
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ASSERT_EQ(val.inner.a, 0);
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ASSERT_EQ(val.inner.b, 1);
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ASSERT_EQ(val.c, 2);
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pub.Set({{1, 2}, 3});
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auto atomicVal = sub.GetAtomic();
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ASSERT_EQ(atomicVal.value.inner.a, 1);
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ASSERT_EQ(atomicVal.value.inner.b, 2);
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ASSERT_EQ(atomicVal.value.c, 3);
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Outer val2;
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sub.GetInto(&val2);
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ASSERT_EQ(val2.inner.a, 1);
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ASSERT_EQ(val2.inner.b, 2);
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ASSERT_EQ(val2.c, 3);
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auto vals = sub.ReadQueue();
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ASSERT_EQ(vals.size(), 1u);
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ASSERT_EQ(vals[0].value.inner.a, 1);
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ASSERT_EQ(vals[0].value.inner.b, 2);
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ASSERT_EQ(vals[0].value.c, 3);
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}
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TEST_F(StructTest, OuterNonconstexpr) {
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nt::StructTopic<Outer2> topic = inst.GetStructTopic<Outer2>("outer2");
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nt::StructPublisher<Outer2> pub = topic.Publish();
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nt::StructSubscriber<Outer2> sub = topic.Subscribe({});
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ASSERT_EQ(topic.GetTypeString(), "struct:Outer2");
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pub.SetDefault({{0, 1}, 2});
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Outer2 val = sub.Get();
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ASSERT_EQ(val.inner.a, 0);
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ASSERT_EQ(val.inner.b, 1);
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ASSERT_EQ(val.c, 2);
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pub.Set({{1, 2}, 3});
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auto atomicVal = sub.GetAtomic();
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ASSERT_EQ(atomicVal.value.inner.a, 1);
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ASSERT_EQ(atomicVal.value.inner.b, 2);
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ASSERT_EQ(atomicVal.value.c, 3);
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Outer2 val2;
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sub.GetInto(&val2);
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ASSERT_EQ(val2.inner.a, 1);
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ASSERT_EQ(val2.inner.b, 2);
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ASSERT_EQ(val2.c, 3);
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auto vals = sub.ReadQueue();
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ASSERT_EQ(vals.size(), 1u);
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ASSERT_EQ(vals[0].value.inner.a, 1);
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ASSERT_EQ(vals[0].value.inner.b, 2);
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ASSERT_EQ(vals[0].value.c, 3);
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}
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TEST_F(StructTest, InnerArrayConstexpr) {
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nt::StructArrayTopic<Inner> topic = inst.GetStructArrayTopic<Inner>("innerA");
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nt::StructArrayPublisher<Inner> pub = topic.Publish();
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nt::StructArraySubscriber<Inner> sub = topic.Subscribe({});
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ASSERT_EQ(topic.GetTypeString(), "struct:Inner[]");
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pub.SetDefault({{{0, 1}}});
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auto val = sub.Get();
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ASSERT_EQ(val.size(), 1u);
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ASSERT_EQ(val[0].a, 0);
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ASSERT_EQ(val[0].b, 1);
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pub.Set({{{1, 2}}});
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auto atomicVal = sub.GetAtomic();
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ASSERT_EQ(atomicVal.value.size(), 1u);
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ASSERT_EQ(atomicVal.value[0].a, 1);
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ASSERT_EQ(atomicVal.value[0].b, 2);
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auto vals = sub.ReadQueue();
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ASSERT_EQ(vals.size(), 1u);
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ASSERT_EQ(vals[0].value.size(), 1u);
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ASSERT_EQ(vals[0].value[0].a, 1);
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ASSERT_EQ(vals[0].value[0].b, 2);
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}
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TEST_F(StructTest, InnerArrayNonconstexpr) {
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nt::StructArrayTopic<Inner2> topic =
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inst.GetStructArrayTopic<Inner2>("innerA2");
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nt::StructArrayPublisher<Inner2> pub = topic.Publish();
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nt::StructArraySubscriber<Inner2> sub = topic.Subscribe({});
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ASSERT_EQ(topic.GetTypeString(), "struct:Inner2[]");
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pub.SetDefault({{{0, 1}}});
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auto val = sub.Get();
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ASSERT_EQ(val.size(), 1u);
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ASSERT_EQ(val[0].a, 0);
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ASSERT_EQ(val[0].b, 1);
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pub.Set({{{1, 2}}});
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auto atomicVal = sub.GetAtomic();
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ASSERT_EQ(atomicVal.value.size(), 1u);
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ASSERT_EQ(atomicVal.value[0].a, 1);
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ASSERT_EQ(atomicVal.value[0].b, 2);
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auto vals = sub.ReadQueue();
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ASSERT_EQ(vals.size(), 1u);
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ASSERT_EQ(vals[0].value.size(), 1u);
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ASSERT_EQ(vals[0].value[0].a, 1);
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ASSERT_EQ(vals[0].value[0].b, 2);
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}
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} // namespace nt
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