rcutils/test/test_uint8_array.cpp at jazzy · micro-ROS2/rcutils · GitHub

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// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

// http://www.apache.org/licenses/LICENSE-2.0

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

#include <gtest/gtest.h>

#include "rcutils/allocator.h"

#include "rcutils/types/uint8_array.h"

TEST(test_uint8_array, default_initialization) {

auto uint8_array = rcutils_get_zero_initialized_uint8_array();

auto allocator = rcutils_get_default_allocator();

EXPECT_EQ(RCUTILS_RET_OK, rcutils_uint8_array_init(&uint8_array, 0, &allocator));

EXPECT_EQ(0lu, uint8_array.buffer_capacity);

EXPECT_EQ(RCUTILS_RET_OK, rcutils_uint8_array_fini(&uint8_array));

EXPECT_EQ(0lu, uint8_array.buffer_capacity);

EXPECT_FALSE(uint8_array.buffer);

}

TEST(test_uint8_array, resize) {

auto uint8_array = rcutils_get_zero_initialized_uint8_array();

auto allocator = rcutils_get_default_allocator();

auto ret = rcutils_uint8_array_init(&uint8_array, 5, &allocator);

ASSERT_EQ(RCUTILS_RET_OK, ret);

for (size_t i = 0; i < 5; ++i) {

uint8_t c = 0xFF;

memcpy(uint8_array.buffer + i, &c, 1);

}

uint8_array.buffer_length = 5;

for (size_t i = 0; i < uint8_array.buffer_length; ++i) {

EXPECT_EQ(0xFF, uint8_array.buffer[i]);

}

ret = rcutils_uint8_array_resize(&uint8_array, 0);

ASSERT_EQ(RCUTILS_RET_INVALID_ARGUMENT, ret);

EXPECT_EQ(5lu, uint8_array.buffer_capacity);

EXPECT_EQ(5lu, uint8_array.buffer_length);

ret = rcutils_uint8_array_resize(&uint8_array, 10);

ASSERT_EQ(RCUTILS_RET_OK, ret);

EXPECT_EQ(10u, uint8_array.buffer_capacity);

EXPECT_EQ(5u, uint8_array.buffer_length);

for (uint8_t i = 0; i < 10; ++i) {

uint8_t u = static_cast<uint8_t>(0xFF - i);

memcpy(uint8_array.buffer + i, &u, 1);

}

uint8_array.buffer_length = 10lu;

for (size_t i = 0; i < uint8_array.buffer_length; ++i) {

uint8_t u = static_cast<uint8_t>(0xFF - i);

EXPECT_EQ(u, uint8_array.buffer[i]);

}

ret = rcutils_uint8_array_resize(&uint8_array, 3);

ASSERT_EQ(RCUTILS_RET_OK, ret);

EXPECT_EQ(3lu, uint8_array.buffer_capacity);

EXPECT_EQ(3lu, uint8_array.buffer_length);

EXPECT_EQ(0xFF, uint8_array.buffer[0]);

EXPECT_EQ(0xFF - 1, uint8_array.buffer[1]);

EXPECT_EQ(0xFF - 2, uint8_array.buffer[2]);

// the other fields are garbage.

ASSERT_EQ(RCUTILS_RET_OK, rcutils_uint8_array_resize(&uint8_array, 3));

// cleanup only 3 fields

EXPECT_EQ(RCUTILS_RET_OK, rcutils_uint8_array_fini(&uint8_array));

}

rcutils/test/test_uint8_array.cpp at jazzy · micro-ROS2/rcutils · GitHub

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