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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// 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));
}
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