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#include <stdio.h>
#include <inttypes.h>
#include "common.hpp"
#define info(...) do { fprintf(stderr, "cpp_client: "); \
fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n"); } while(0)
#define CHECK_FIELD(field, expected, fmt) \
if((field) != (expected)) { \
info("Expected " #field " to be: " fmt ", got " fmt " instead", (expected), (field)); \
return 0; \
}
#if defined(_MSC_VER) && _MSC_VER < 1900
#include <stdarg.h>
#define snprintf c99_snprintf
#define vsnprintf c99_vsnprintf
inline int c99_vsnprintf(char *outBuf, size_t size, const char *format, va_list ap)
{
int count = -1;
if (size != 0)
count = _vsnprintf_s(outBuf, size, _TRUNCATE, format, ap);
if (count == -1)
count = _vscprintf(format, ap);
return count;
}
inline int c99_snprintf(char *outBuf, size_t size, const char *format, ...)
{
int count;
va_list ap;
va_start(ap, format);
count = c99_vsnprintf(outBuf, size, format, ap);
va_end(ap);
return count;
}
#endif
int CheckLcmType(const lcmtest::multidim_array_t* msg, int expected) {
CHECK_FIELD(msg->size_a, expected, "%d");
CHECK_FIELD(msg->size_b, expected, "%d");
CHECK_FIELD(msg->size_c, expected, "%d");
int i, j, k;
int n = 0;
// data
for (i = 0; i < msg->size_a; i++) {
for (j = 0; j < msg->size_b; j++) {
for (k = 0; k < msg->size_c; k++) {
CHECK_FIELD(msg->data[i][j][k], n, "%d");
n++;
}
}
}
// strarray
char expected_buf[80];
n = 0;
for (i = 0; i < 2; i++) {
for (k = 0; k < msg->size_c; k++) {
snprintf(expected_buf, 79, "%d", n);
if (strcmp(expected_buf, msg->strarray[i][k].c_str())) {
info("Expected msg->strarray[%d][%d] to be %s, got %s instead", i, k,
expected_buf, msg->strarray[i][k].c_str());
return 0;
}
n++;
}
}
return 1;
}
void FillLcmType(int num, lcmtest::multidim_array_t* msg) {
msg->size_a = num;
msg->size_b = num;
msg->size_c = num;
msg->data.resize(num);
int i, j, k;
int n = 0;
// data
for (i = 0; i < num; i++) {
msg->data[i].resize(num);
for (j = 0; j < num; j++) {
msg->data[i][j].resize(num);
for (k = 0; k < num; k++) {
msg->data[i][j][k] = n;
n++;
}
}
}
char buf[80];
// strarray
msg->strarray.resize(2);
n = 0;
for (i = 0; i < 2; i++) {
msg->strarray[i].resize(msg->size_c);
for (k = 0; k < msg->size_c; k++) {
snprintf(buf, 79, "%d", n);
msg->strarray[i][k] = buf;
n++;
}
}
}
void ClearLcmType(lcmtest::multidim_array_t* msg) {
int i, j, k;
// data
for (i = 0; i < msg->size_a; i++) {
for (j = 0; j < msg->size_b; j++) {
msg->data[i][j].clear();
}
msg->data[i].clear();
}
msg->data.clear();
// strarray
for (i = 0; i < 2; i++) {
for (k = 0; k < msg->size_c; k++) {
msg->strarray[i][k].clear();
}
msg->strarray[i].clear();
}
}
int CheckLcmType(const lcmtest::node_t* msg, int expected) {
CHECK_FIELD(msg->num_children, expected, "%d");
if (!msg->num_children)
return 1;
int i;
for (i = 0; i < msg->num_children; i++) {
const lcmtest::node_t* child = &msg->children[i];
if (!CheckLcmType(child, msg->num_children - 1))
return 0;
}
return 1;
}
void FillLcmType(int num_children, lcmtest::node_t* result) {
result->num_children = num_children;
if (!num_children) {
result->children.clear();
return;
}
result->children.resize(num_children);
for (int i = 0; i < num_children; i++) {
FillLcmType(num_children - 1, &result->children[i]);
}
}
void ClearLcmType(lcmtest::node_t* msg) {
for (int i = 0; i < msg->num_children; i++) {
ClearLcmType(&msg->children[i]);
}
msg->children.clear();
}
int CheckLcmType(const lcmtest::primitives_list_t* msg, int expected)
{
CHECK_FIELD(msg->num_items, expected, "%d");
for(int n=0; n<expected; n++)
{
const lcmtest::primitives_t* ex = &msg->items[n];
CHECK_FIELD(ex->i8, -(n % 100), "%d");
CHECK_FIELD(ex->i16, -n * 10, "%d");
CHECK_FIELD(ex->i64, (int64_t)(-n * 10000), "%jd");
CHECK_FIELD(ex->position[0], (double)-n, "%f");
CHECK_FIELD(ex->position[1], (double)-n, "%f");
CHECK_FIELD(ex->position[2], (double)-n, "%f");
CHECK_FIELD(ex->orientation[0], (double)-n, "%f");
CHECK_FIELD(ex->orientation[1], (double)-n, "%f");
CHECK_FIELD(ex->orientation[2], (double)-n, "%f");
CHECK_FIELD(ex->orientation[3], (double)-n, "%f");
CHECK_FIELD(ex->num_ranges, n, "%d");
int i;
for(i=0; i<n; i++)
CHECK_FIELD(ex->ranges[i], -i, "%d");
char expected_name[100];
sprintf(expected_name, "%d", -n);
if(strcmp(expected_name, ex->name.c_str())) {
info("Expected msg->items[%d].name to be %s, got %s instead", n, expected_name, ex->name.c_str());
return 0;
}
CHECK_FIELD(ex->enabled, (int)((n+1)%2), "%d");
}
return 1;
}
void FillLcmType(int num, lcmtest::primitives_list_t* msg)
{
int n;
msg->num_items = num;
msg->items.resize(msg->num_items);
for(n=0; n<num; n++) {
lcmtest::primitives_t* ex = &msg->items[n];
ex->i8 = -(n % 100);
ex->i16 = -n * 10;
ex->i64 = -n * 10000;
ex->position[0] = -n;
ex->position[1] = -n;
ex->position[2] = -n;
ex->orientation[0] = -n;
ex->orientation[1] = -n;
ex->orientation[2] = -n;
ex->orientation[3] = -n;
ex->num_ranges = n;
ex->ranges.resize(n);
int i;
for(i=0; i<n; i++) {
ex->ranges[i] = -i;
}
char name[100];
snprintf(name, 99, "%d", -n);
ex->name = name;
ex->enabled = (n+1) % 2;
}
}
void ClearLcmType(lcmtest::primitives_list_t* msg)
{
msg->items.clear();
}
int CheckLcmType(const lcmtest::primitives_t* msg, int expected) {
int n = expected;
CHECK_FIELD(msg->i8, n % 100, "%d");
CHECK_FIELD(msg->i16, n * 10, "%d");
CHECK_FIELD(msg->i64, (int64_t )(n * 10000), "%jd");
CHECK_FIELD(msg->position[0], (double )n, "%f");
CHECK_FIELD(msg->position[1], (double )n, "%f");
CHECK_FIELD(msg->position[2], (double )n, "%f");
CHECK_FIELD(msg->orientation[0], (double )n, "%f");
CHECK_FIELD(msg->orientation[1], (double )n, "%f");
CHECK_FIELD(msg->orientation[2], (double )n, "%f");
CHECK_FIELD(msg->orientation[3], (double )n, "%f");
CHECK_FIELD(msg->num_ranges, n, "%d");
int i;
for (i = 0; i < n; i++)
CHECK_FIELD(msg->ranges[i], i, "%d");
char expected_name[100];
sprintf(expected_name, "%d", n);
if (strcmp(expected_name, msg->name.c_str())) {
info("Expected msg->expected_name to be %s, got %s instead",
expected_name, msg->name.c_str());
return 0;
}
CHECK_FIELD(msg->enabled, (int )(n % 2), "%d");
return 1;
}
void FillLcmType(int n, lcmtest::primitives_t* msg) {
msg->i8 = n % 100;
msg->i16 = n * 10;
msg->i64 = n * 10000;
msg->position[0] = n;
msg->position[1] = n;
msg->position[2] = n;
msg->orientation[0] = n;
msg->orientation[1] = n;
msg->orientation[2] = n;
msg->orientation[3] = n;
msg->num_ranges = n;
msg->ranges.resize(n);
int i;
for (i = 0; i < n; i++)
msg->ranges[i] = i;
char name_buf[80];
snprintf(name_buf, 79, "%d", n);
msg->name = name_buf;
msg->enabled = n % 2;
}
void ClearLcmType(lcmtest::primitives_t* msg) {
msg->ranges.clear();
msg->name.clear();
}
int CheckLcmType(const lcmtest2::cross_package_t* msg, int expected) {
return CheckLcmType(&msg->primitives, expected) &&
CheckLcmType(&msg->another, expected);
}
void FillLcmType(int n, lcmtest2::cross_package_t* msg) {
FillLcmType(n, &msg->primitives);
FillLcmType(n, &msg->another);
}
void ClearLcmType(lcmtest2::cross_package_t* msg) {
ClearLcmType(&msg->primitives);
ClearLcmType(&msg->another);
}
int CheckLcmType(const lcmtest2::another_type_t* msg, int expected) {
int n = expected;
CHECK_FIELD(msg->val, n, "%d");
return 1;
}
void FillLcmType(int n, lcmtest2::another_type_t* msg)
{
msg->val = n;
}
void ClearLcmType(lcmtest2::another_type_t* msg)
{
return;
}
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