mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
[wpiutil, ntcore] Add structured data support (#5391)
This adds support for two serialization formats for complex data types: - Protobuf for complex objects with variable length internals that need forward and backward wire compatibility (lower speed, more flexible) - Raw struct (ByteBuffer-style) for fixed-length objects (higher speed, less flexible) Deserialization can be done either by creating a new object (for immutable objects) or overwriting the contents of an existing object (for mutable objects). Implementing classes should provide inner classes that implement the Protobuf or Struct interface (in Java) or specialize the wpi::Protobuf or wpi::Struct struct (in C++). It is possible for classes to implement both. If the class itself does not implement serialization, it's possible for third parties/users to provide an implementation instead. Uses the Google protobuf implementation for C++ and the QuickBuffers alternative protobuf implementation for Java.
This commit is contained in:
Peter Johnson
@@ -0,0 +1,390 @@
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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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package edu.wpi.first.util.struct;
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import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertFalse;
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import static org.junit.jupiter.api.Assertions.assertNotNull;
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import static org.junit.jupiter.api.Assertions.assertThrows;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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import java.util.stream.Stream;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.Test;
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import org.junit.jupiter.params.ParameterizedTest;
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import org.junit.jupiter.params.provider.Arguments;
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import org.junit.jupiter.params.provider.MethodSource;
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class DynamicStructTest {
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@SuppressWarnings("MemberName")
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private StructDescriptorDatabase db;
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@BeforeEach
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public void init() {
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db = new StructDescriptorDatabase();
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}
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@Test
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void testEmpty() {
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var desc = assertDoesNotThrow(() -> db.add("test", ""));
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assertEquals(desc.getName(), "test");
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assertEquals(desc.getSchema(), "");
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assertTrue(desc.getFields().isEmpty());
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assertTrue(desc.isValid());
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assertEquals(desc.getSize(), 0);
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}
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@Test
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void testNestedStruct() {
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var desc = assertDoesNotThrow(() -> db.add("test", "int32 a"));
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assertTrue(desc.isValid());
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var desc2 = assertDoesNotThrow(() -> db.add("test2", "test a"));
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assertTrue(desc2.isValid());
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assertEquals(desc2.getSize(), 4);
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}
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@Test
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void testDelayedValid() {
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var desc = assertDoesNotThrow(() -> db.add("test", "foo a"));
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assertFalse(desc.isValid());
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var desc2 = assertDoesNotThrow(() -> db.add("test2", "foo a[2]"));
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assertFalse(desc2.isValid());
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var desc3 = assertDoesNotThrow(() -> db.add("foo", "int32 a"));
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assertTrue(desc3.isValid());
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assertTrue(desc.isValid());
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assertEquals(desc.getSize(), 4);
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assertTrue(desc2.isValid());
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assertEquals(desc2.getSize(), 8);
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}
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@Test
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void testInvalidBitfield() {
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assertThrows(
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BadSchemaException.class,
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() -> db.add("test", "float a:1"),
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"field a: type float cannot be bitfield");
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assertThrows(
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BadSchemaException.class,
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() -> db.add("test", "double a:1"),
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"field a: type double cannot be bitfield");
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assertThrows(
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BadSchemaException.class,
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() -> db.add("test", "foo a:1"),
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"field a: type foo cannot be bitfield");
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}
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@Test
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void testCircularStructReference() {
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assertThrows(
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BadSchemaException.class,
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() -> db.add("test", "test a"),
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"field a: recursive struct reference");
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}
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@Test
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void testNestedCircularStructRef() {
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assertDoesNotThrow(() -> db.add("test", "foo a"));
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assertDoesNotThrow(() -> db.add("foo", "bar a"));
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assertThrows(
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BadSchemaException.class,
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() -> db.add("bar", "test a"),
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"circular struct reference: bar <- foo <- test");
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// ok
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var desc = assertDoesNotThrow(() -> db.add("baz", "bar a"));
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assertFalse(desc.isValid());
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}
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@Test
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void testNestedCircularStructRef2() {
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assertDoesNotThrow(() -> db.add("test", "foo a"));
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assertDoesNotThrow(() -> db.add("bar", "test a"));
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assertThrows(
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BadSchemaException.class,
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() -> db.add("foo", "bar a"),
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"circular struct reference: foo <- test <- bar");
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}
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@Test
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void testBitfieldBasic() {
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var desc = assertDoesNotThrow(() -> db.add("test", "int32 a:2; uint32 b:30"));
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assertEquals(desc.getSize(), 4);
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var fields = desc.getFields();
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assertEquals(fields.size(), 2);
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var field = fields.get(0);
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assertEquals(field.getBitWidth(), 2);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getBitMask(), 0x3);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 4);
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field = fields.get(1);
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assertEquals(field.getBitWidth(), 30);
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assertEquals(field.getBitShift(), 2);
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assertEquals(field.getBitMask(), 0x3fffffff);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 4);
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}
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@Test
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void testBitfieldDiffType() {
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var desc = assertDoesNotThrow(() -> db.add("test", "int32 a:2; int16 b:2"));
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assertEquals(desc.getSize(), 6);
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var fields = desc.getFields();
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assertEquals(fields.size(), 2);
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var field = fields.get(0);
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assertEquals(field.getBitWidth(), 2);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getBitMask(), 0x3);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 4);
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field = fields.get(1);
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assertEquals(field.getBitWidth(), 2);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getBitMask(), 0x3);
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assertEquals(field.getOffset(), 4);
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assertEquals(field.getSize(), 2);
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}
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@Test
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void testBitfieldOverflow() {
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var desc = assertDoesNotThrow(() -> db.add("test", "int8 a:4; int8 b:5"));
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assertEquals(desc.getSize(), 2);
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var fields = desc.getFields();
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assertEquals(fields.size(), 2);
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var field = fields.get(0);
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assertEquals(field.getBitWidth(), 4);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getBitMask(), 0xf);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 1);
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field = fields.get(1);
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assertEquals(field.getBitWidth(), 5);
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assertEquals(field.getBitMask(), 0x1f);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getOffset(), 1);
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assertEquals(field.getSize(), 1);
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}
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@Test
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void testBitfieldBoolBegin8() {
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var desc = assertDoesNotThrow(() -> db.add("test", "bool a:1; int8 b:5"));
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assertEquals(desc.getSize(), 1);
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var fields = desc.getFields();
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assertEquals(fields.size(), 2);
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var field = fields.get(0);
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assertEquals(field.getBitWidth(), 1);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getBitMask(), 0x1);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 1);
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field = fields.get(1);
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assertEquals(field.getBitWidth(), 5);
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assertEquals(field.getBitMask(), 0x1f);
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assertEquals(field.getBitShift(), 1);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 1);
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}
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@Test
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void testBitfieldBoolBegin16() {
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var desc = assertDoesNotThrow(() -> db.add("test", "bool a:1; int16 b:5"));
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assertEquals(desc.getSize(), 3);
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var fields = desc.getFields();
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assertEquals(fields.size(), 2);
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var field = fields.get(0);
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assertEquals(field.getBitWidth(), 1);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getBitMask(), 0x1);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 1);
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field = fields.get(1);
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assertEquals(field.getBitWidth(), 5);
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assertEquals(field.getBitMask(), 0x1f);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getOffset(), 1);
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assertEquals(field.getSize(), 2);
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}
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@Test
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void testBitfieldBoolMid() {
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var desc =
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assertDoesNotThrow(() -> db.add("test", "int16 a:2; bool b:1; bool c:1; uint16 d:5"));
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assertEquals(desc.getSize(), 2);
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var fields = desc.getFields();
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assertEquals(fields.size(), 4);
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var field = fields.get(0);
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assertEquals(field.getBitWidth(), 2);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getBitMask(), 0x3);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 2);
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field = fields.get(1);
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assertEquals(field.getBitWidth(), 1);
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assertEquals(field.getBitMask(), 0x1);
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assertEquals(field.getBitShift(), 2);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 2);
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field = fields.get(2);
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assertEquals(field.getBitWidth(), 1);
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assertEquals(field.getBitMask(), 0x1);
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assertEquals(field.getBitShift(), 3);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 2);
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field = fields.get(3);
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assertEquals(field.getBitWidth(), 5);
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assertEquals(field.getBitMask(), 0x1f);
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assertEquals(field.getBitShift(), 4);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 2);
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}
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@Test
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void testBitfieldBoolEnd() {
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var desc = assertDoesNotThrow(() -> db.add("test", "int16 a:15; bool b:1"));
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assertEquals(desc.getSize(), 2);
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var fields = desc.getFields();
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assertEquals(fields.size(), 2);
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var field = fields.get(0);
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assertEquals(field.getBitWidth(), 15);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getBitMask(), 0x7fff);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 2);
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field = fields.get(1);
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assertEquals(field.getBitWidth(), 1);
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assertEquals(field.getBitMask(), 0x1);
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assertEquals(field.getBitShift(), 15);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 2);
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}
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@Test
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void testBitfieldBoolEnd2() {
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var desc = assertDoesNotThrow(() -> db.add("test", "int16 a:16; bool b:1"));
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assertEquals(desc.getSize(), 3);
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var fields = desc.getFields();
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assertEquals(fields.size(), 2);
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var field = fields.get(0);
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assertEquals(field.getBitWidth(), 16);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getBitMask(), 0xffff);
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assertEquals(field.getOffset(), 0);
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assertEquals(field.getSize(), 2);
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field = fields.get(1);
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assertEquals(field.getBitWidth(), 1);
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assertEquals(field.getBitMask(), 0x1);
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assertEquals(field.getBitShift(), 0);
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assertEquals(field.getOffset(), 2);
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assertEquals(field.getSize(), 1);
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}
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@Test
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void testBitfieldBoolWrongSize() {
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assertThrows(
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BadSchemaException.class,
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() -> db.add("test", "bool a:2"),
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"field a: bit width must be 1 for bool type");
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}
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@Test
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void testBitfieldTooBig() {
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assertThrows(
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BadSchemaException.class,
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() -> db.add("test", "int16 a:17"),
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"field a: bit width 17 exceeds type size");
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}
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@Test
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void testDuplicateFieldName() {
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assertThrows(
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BadSchemaException.class,
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() -> db.add("test", "int16 a; int8 a"),
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"field a: duplicate field name");
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}
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private static Stream<Arguments> provideSimpleTestParams() {
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return Stream.of(
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Arguments.of("bool a", 1, StructFieldType.kBool, false, false, 8, 0xff),
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Arguments.of("char a", 1, StructFieldType.kChar, false, false, 8, 0xff),
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Arguments.of("int8 a", 1, StructFieldType.kInt8, true, false, 8, 0xff),
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Arguments.of("int16 a", 2, StructFieldType.kInt16, true, false, 16, 0xffff),
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Arguments.of("int32 a", 4, StructFieldType.kInt32, true, false, 32, 0xffffffffL),
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Arguments.of("int64 a", 8, StructFieldType.kInt64, true, false, 64, -1),
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Arguments.of("uint8 a", 1, StructFieldType.kUint8, false, true, 8, 0xff),
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Arguments.of("uint16 a", 2, StructFieldType.kUint16, false, true, 16, 0xffff),
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Arguments.of("uint32 a", 4, StructFieldType.kUint32, false, true, 32, 0xffffffffL),
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Arguments.of("uint64 a", 8, StructFieldType.kUint64, false, true, 64, -1),
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Arguments.of("float a", 4, StructFieldType.kFloat, false, false, 32, 0xffffffffL),
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Arguments.of("float32 a", 4, StructFieldType.kFloat, false, false, 32, 0xffffffffL),
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Arguments.of("double a", 8, StructFieldType.kDouble, false, false, 64, -1),
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Arguments.of("float64 a", 8, StructFieldType.kDouble, false, false, 64, -1),
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Arguments.of("foo a", 0, StructFieldType.kStruct, false, false, 0, 0));
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}
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@ParameterizedTest
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@MethodSource("provideSimpleTestParams")
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void testStandardCheck(
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String schema,
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int size,
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StructFieldType type,
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boolean isInt,
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boolean isUint,
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int bitWidth,
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long bitMask) {
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var desc = assertDoesNotThrow(() -> db.add("test", schema));
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assertEquals(desc.getName(), "test");
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assertEquals(desc.getSchema(), schema);
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var fields = desc.getFields();
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assertEquals(fields.size(), 1);
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var field = fields.get(0);
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assertEquals(field.getParent(), desc);
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assertEquals(field.getName(), "a");
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assertEquals(field.isInt(), isInt);
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assertEquals(field.isUint(), isUint);
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assertFalse(field.isArray());
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if (type != StructFieldType.kStruct) {
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assertTrue(desc.isValid());
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assertEquals(desc.getSize(), size);
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assertEquals(field.getSize(), size);
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assertEquals(field.getBitWidth(), bitWidth);
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assertEquals(field.getBitMask(), bitMask);
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} else {
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assertFalse(desc.isValid());
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assertNotNull(field.getStruct());
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}
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}
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@ParameterizedTest
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@MethodSource("provideSimpleTestParams")
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void testStandardArray(
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String schema,
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int size,
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StructFieldType type,
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boolean isInt,
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boolean isUint,
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int bitWidth,
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long bitMask) {
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var desc = assertDoesNotThrow(() -> db.add("test", schema + "[2]"));
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assertEquals(desc.getName(), "test");
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assertEquals(desc.getSchema(), schema + "[2]");
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var fields = desc.getFields();
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assertEquals(fields.size(), 1);
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var field = fields.get(0);
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assertEquals(field.getParent(), desc);
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assertEquals(field.getName(), "a");
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assertEquals(field.isInt(), isInt);
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assertEquals(field.isUint(), isUint);
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assertTrue(field.isArray());
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assertEquals(field.getArraySize(), 2);
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if (type != StructFieldType.kStruct) {
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assertTrue(desc.isValid());
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assertEquals(desc.getSize(), size * 2);
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} else {
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assertFalse(desc.isValid());
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assertNotNull(field.getStruct());
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}
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||||
}
|
||||
}
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@@ -0,0 +1,212 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package edu.wpi.first.util.struct.parser;
|
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|
||||
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
|
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertThrows;
|
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import static org.junit.jupiter.api.Assertions.assertTrue;
|
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import org.junit.jupiter.api.Test;
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||||
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class ParserTest {
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@Test
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||||
void testEmpty() {
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Parser p = new Parser("");
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ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
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assertTrue(schema.declarations.isEmpty());
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}
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@Test
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void testEmptySemicolon() {
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Parser p = new Parser(";");
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ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
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assertTrue(schema.declarations.isEmpty());
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}
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@Test
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void testSimple() {
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Parser p = new Parser("int32 a");
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||||
ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
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assertEquals(schema.declarations.size(), 1);
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var decl = schema.declarations.get(0);
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assertEquals(decl.typeString, "int32");
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assertEquals(decl.name, "a");
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assertEquals(decl.arraySize, 1);
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}
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@Test
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void testSimpleTrailingSemi() {
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Parser p = new Parser("int32 a;");
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ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
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assertEquals(schema.declarations.size(), 1);
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||||
}
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||||
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||||
@Test
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||||
void testArray() {
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||||
Parser p = new Parser("int32 a[2]");
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||||
ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
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||||
assertEquals(schema.declarations.size(), 1);
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||||
var decl = schema.declarations.get(0);
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||||
assertEquals(decl.typeString, "int32");
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assertEquals(decl.name, "a");
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assertEquals(decl.arraySize, 2);
|
||||
}
|
||||
|
||||
@Test
|
||||
void testArrayTrailingSemi() {
|
||||
Parser p = new Parser("int32 a[2];");
|
||||
ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
|
||||
assertEquals(schema.declarations.size(), 1);
|
||||
}
|
||||
|
||||
@Test
|
||||
void testBitfield() {
|
||||
Parser p = new Parser("int32 a:2");
|
||||
ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
|
||||
assertEquals(schema.declarations.size(), 1);
|
||||
var decl = schema.declarations.get(0);
|
||||
assertEquals(decl.typeString, "int32");
|
||||
assertEquals(decl.name, "a");
|
||||
assertEquals(decl.bitWidth, 2);
|
||||
}
|
||||
|
||||
@Test
|
||||
void testBitfieldTrailingSemi() {
|
||||
Parser p = new Parser("int32 a:2;");
|
||||
ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
|
||||
assertEquals(schema.declarations.size(), 1);
|
||||
}
|
||||
|
||||
@Test
|
||||
void testEnumKeyword() {
|
||||
Parser p = new Parser("enum {x=1} int32 a;");
|
||||
ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
|
||||
assertEquals(schema.declarations.size(), 1);
|
||||
var decl = schema.declarations.get(0);
|
||||
assertEquals(decl.typeString, "int32");
|
||||
assertEquals(decl.name, "a");
|
||||
assertEquals(decl.enumValues.size(), 1);
|
||||
assertEquals(decl.enumValues.get("x"), 1);
|
||||
}
|
||||
|
||||
@Test
|
||||
void testEnumNoKeyword() {
|
||||
Parser p = new Parser("{x=1} int32 a;");
|
||||
ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
|
||||
assertEquals(schema.declarations.size(), 1);
|
||||
var decl = schema.declarations.get(0);
|
||||
assertEquals(decl.typeString, "int32");
|
||||
assertEquals(decl.name, "a");
|
||||
assertEquals(decl.enumValues.size(), 1);
|
||||
assertEquals(decl.enumValues.get("x"), 1);
|
||||
}
|
||||
|
||||
@Test
|
||||
void testEnumNoValues() {
|
||||
Parser p = new Parser("{} int32 a;");
|
||||
ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
|
||||
assertEquals(schema.declarations.size(), 1);
|
||||
var decl = schema.declarations.get(0);
|
||||
assertEquals(decl.typeString, "int32");
|
||||
assertEquals(decl.name, "a");
|
||||
assertTrue(decl.enumValues.isEmpty());
|
||||
}
|
||||
|
||||
@Test
|
||||
void testEnumMultipleValues() {
|
||||
Parser p = new Parser("{x=1,y=-2} int32 a;");
|
||||
ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
|
||||
assertEquals(schema.declarations.size(), 1);
|
||||
var decl = schema.declarations.get(0);
|
||||
assertEquals(decl.typeString, "int32");
|
||||
assertEquals(decl.name, "a");
|
||||
assertEquals(decl.enumValues.size(), 2);
|
||||
assertEquals(decl.enumValues.get("x"), 1);
|
||||
assertEquals(decl.enumValues.get("y"), -2);
|
||||
}
|
||||
|
||||
@Test
|
||||
void testEnumTrailingComma() {
|
||||
Parser p = new Parser("{x=1,y=2,} int32 a;");
|
||||
ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
|
||||
assertEquals(schema.declarations.size(), 1);
|
||||
var decl = schema.declarations.get(0);
|
||||
assertEquals(decl.typeString, "int32");
|
||||
assertEquals(decl.name, "a");
|
||||
assertEquals(decl.enumValues.size(), 2);
|
||||
assertEquals(decl.enumValues.get("x"), 1);
|
||||
assertEquals(decl.enumValues.get("y"), 2);
|
||||
}
|
||||
|
||||
@Test
|
||||
void testMultipleNoTrailingSemi() {
|
||||
Parser p = new Parser("int32 a; int16 b");
|
||||
ParsedSchema schema = assertDoesNotThrow(() -> p.parse());
|
||||
assertEquals(schema.declarations.size(), 2);
|
||||
assertEquals(schema.declarations.get(0).typeString, "int32");
|
||||
assertEquals(schema.declarations.get(0).name, "a");
|
||||
assertEquals(schema.declarations.get(1).typeString, "int16");
|
||||
assertEquals(schema.declarations.get(1).name, "b");
|
||||
}
|
||||
|
||||
@Test
|
||||
void testErrBitfieldArray() {
|
||||
Parser p = new Parser("int32 a[1]:2");
|
||||
assertThrows(ParseException.class, () -> p.parse(), "10: expected ';', got ':'");
|
||||
}
|
||||
|
||||
@Test
|
||||
void testErrNoArrayValue() {
|
||||
Parser p = new Parser("int32 a[]");
|
||||
assertThrows(ParseException.class, () -> p.parse(), "8: expected integer, got ']'");
|
||||
}
|
||||
|
||||
@Test
|
||||
void testErrNoBitfieldValue() {
|
||||
Parser p = new Parser("int32 a:");
|
||||
assertThrows(ParseException.class, () -> p.parse(), "8: expected integer, got ''");
|
||||
}
|
||||
|
||||
@Test
|
||||
void testErrNoNameArray() {
|
||||
Parser p = new Parser("int32 [2]");
|
||||
assertThrows(ParseException.class, () -> p.parse(), "6: expected identifier, got '['");
|
||||
}
|
||||
|
||||
@Test
|
||||
void testErrNoNameBitField() {
|
||||
Parser p = new Parser("int32 :2");
|
||||
assertThrows(ParseException.class, () -> p.parse(), "6: expected identifier, got ':'");
|
||||
}
|
||||
|
||||
@Test
|
||||
void testNegativeBitField() {
|
||||
Parser p = new Parser("int32 a:-1");
|
||||
assertThrows(
|
||||
ParseException.class, () -> p.parse(), "8: bitfield width '-1' is not a positive integer");
|
||||
}
|
||||
|
||||
@Test
|
||||
void testNegativeArraySize() {
|
||||
Parser p = new Parser("int32 a[-1]");
|
||||
assertThrows(
|
||||
ParseException.class, () -> p.parse(), "8: array size '-1' is not a positive integer");
|
||||
}
|
||||
|
||||
@Test
|
||||
void testZeroBitField() {
|
||||
Parser p = new Parser("int32 a:0");
|
||||
assertThrows(
|
||||
ParseException.class, () -> p.parse(), "8: bitfield width '0' is not a positive integer");
|
||||
}
|
||||
|
||||
@Test
|
||||
void testZeroArraySize() {
|
||||
Parser p = new Parser("int32 a[0]");
|
||||
assertThrows(
|
||||
ParseException.class, () -> p.parse(), "8: array size '0' is not a positive integer");
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user