def setUp(self):
self.custom_type = parser.CompoundType(
"CustomType",
parser.CompoundType.KIND_MESSAGE,
"source.uavcan",
0,
""
)
self.custom_type.fields = [
parser.Field(
parser.PrimitiveType(
parser.PrimitiveType.KIND_FLOAT,
16,
parser.PrimitiveType.CAST_MODE_SATURATED
),
"a"
),
parser.Field(parser.VoidType(3), None),
parser.Field(
parser.PrimitiveType(
parser.PrimitiveType.KIND_UNSIGNED_INT,
1,
parser.PrimitiveType.CAST_MODE_SATURATED
),
"b"
)
]
def custom_type_factory(*args, **kwargs):
return transport.CompoundValue(self.custom_type, _tao=True, *args,
**kwargs)
self.custom_type._instantiate = custom_type_factory
def setUp(self):
self.custom_type = parser.CompoundType(
"CustomType", parser.CompoundType.KIND_MESSAGE, "source.uavcan", 0,
"")
self.custom_type.union = True
self.custom_type.fields = [
parser.Field(
parser.PrimitiveType(parser.PrimitiveType.KIND_FLOAT, 16,
parser.PrimitiveType.CAST_MODE_SATURATED),
"a"),
parser.Field(
parser.ArrayType(
parser.PrimitiveType(
parser.PrimitiveType.KIND_UNSIGNED_INT, 8,
parser.PrimitiveType.CAST_MODE_SATURATED),
parser.ArrayType.MODE_STATIC, 2), "b")
]
def custom_type_factory(*args, **kwargs):
return transport.CompoundValue(self.custom_type,
tao=True,
*args,
**kwargs)
self.custom_type.__call__ = custom_type_factory
def test_signed_saturated_33bit(self):
dtype = parser.PrimitiveType(parser.PrimitiveType.KIND_SIGNED_INT, 33,
parser.PrimitiveType.CAST_MODE_SATURATED)
value = transport.cast(0, dtype)
self.assertEqual(value, 0)
value = transport.cast(8589934591, dtype)
self.assertEqual(value, 4294967295)
value = transport.cast(-8589934592, dtype)
self.assertEqual(value, -4294967296)
value = transport.cast(-1, dtype)
self.assertEqual(value, -1)
def test_truncated_33bit(self):
dtype = parser.PrimitiveType(parser.PrimitiveType.KIND_UNSIGNED_INT,
33,
parser.PrimitiveType.CAST_MODE_TRUNCATED)
value = transport.cast(0, dtype)
self.assertEqual(value, 0)
value = transport.cast(8589934591, dtype)
self.assertEqual(value, 8589934591)
value = transport.cast(8589934592, dtype)
self.assertEqual(value, 0)
value = transport.cast(-1, dtype)
self.assertEqual(value, 8589934591)
def test_signed_saturated_64bit(self):
dtype = parser.PrimitiveType(parser.PrimitiveType.KIND_SIGNED_INT, 64,
parser.PrimitiveType.CAST_MODE_SATURATED)
value = transport.cast(0, dtype)
self.assertEqual(value, 0)
value = transport.cast(18446744073709551615, dtype)
self.assertEqual(value, 9223372036854775808)
value = transport.cast(-1, dtype)
self.assertEqual(value, -1)
value = transport.cast(-18446744073709551617, dtype)
self.assertEqual(value, -9223372036854775809)
value = transport.cast(-9223372036854775808, dtype)
self.assertEqual(value, -9223372036854775808)
def test_signed_saturated_4bit(self):
dtype = parser.PrimitiveType(parser.PrimitiveType.KIND_SIGNED_INT, 4,
parser.PrimitiveType.CAST_MODE_SATURATED)
value = transport.cast(0, dtype)
self.assertEqual(value, 0)
value = transport.cast(15, dtype)
self.assertEqual(value, 7)
value = transport.cast(16, dtype)
self.assertEqual(value, 7)
value = transport.cast(-1, dtype)
self.assertEqual(value, -1)
value = transport.cast(-30, dtype)
self.assertEqual(value, -8)
def test_truncated_4bit(self):
dtype = parser.PrimitiveType(parser.PrimitiveType.KIND_UNSIGNED_INT, 4,
parser.PrimitiveType.CAST_MODE_TRUNCATED)
value = transport.cast(0, dtype)
self.assertEqual(value, 0)
value = transport.cast(15, dtype)
self.assertEqual(value, 15)
value = transport.cast(16, dtype)
self.assertEqual(value, 0)
value = transport.cast(-1, dtype)
self.assertEqual(value, 15)
value = transport.cast(30, dtype)
self.assertEqual(value, 14)
def test_unsigned_saturated_64bit(self):
dtype = parser.PrimitiveType(parser.PrimitiveType.KIND_UNSIGNED_INT,
64,
parser.PrimitiveType.CAST_MODE_SATURATED)
value = transport.cast(0, dtype)
self.assertEqual(value, 0)
value = transport.cast(18446744073709551615, dtype)
self.assertEqual(value, 18446744073709551615)
value = transport.cast(-1, dtype)
self.assertEqual(value, 0)
value = transport.cast(18446744073709551617, dtype)
self.assertEqual(value, 18446744073709551615)
value = transport.cast(-18446744073709551615, dtype)
self.assertEqual(value, 0)
def setUp(self):
custom_type = parser.CompoundType("CustomType",
parser.CompoundType.KIND_MESSAGE,
"source.uavcan", 0, "")
custom_type.fields = [
parser.Field(
parser.PrimitiveType(parser.PrimitiveType.KIND_SIGNED_INT, 8,
parser.PrimitiveType.CAST_MODE_TRUNCATED),
"a"),
parser.Field(
parser.PrimitiveType(parser.PrimitiveType.KIND_FLOAT, 16,
parser.PrimitiveType.CAST_MODE_SATURATED),
"b"),
parser.Field(
parser.ArrayType(
parser.PrimitiveType(
parser.PrimitiveType.KIND_UNSIGNED_INT, 1,
parser.PrimitiveType.CAST_MODE_SATURATED),
parser.ArrayType.MODE_DYNAMIC, 5), "c")
]
def custom_type_factory(*args, **kwargs):
return transport.CompoundValue(custom_type, *args, **kwargs)
custom_type._instantiate = custom_type_factory
self.a1_type = parser.ArrayType(
parser.PrimitiveType(parser.PrimitiveType.KIND_SIGNED_INT, 8,
parser.PrimitiveType.CAST_MODE_TRUNCATED),
parser.ArrayType.MODE_STATIC, 4)
self.a2_type = parser.ArrayType(
parser.PrimitiveType(parser.PrimitiveType.KIND_FLOAT, 16,
parser.PrimitiveType.CAST_MODE_SATURATED),
parser.ArrayType.MODE_STATIC, 2)
self.a3_type = parser.ArrayType(custom_type,
parser.ArrayType.MODE_STATIC, 2)
def test_unsigned_saturated_1bit(self):
dtype = parser.PrimitiveType(parser.PrimitiveType.KIND_UNSIGNED_INT, 1,
parser.PrimitiveType.CAST_MODE_SATURATED)
value = transport.cast(0, dtype)
self.assertEqual(value, 0)
value = transport.cast(1, dtype)
self.assertEqual(value, 1)
value = transport.cast(2, dtype)
self.assertEqual(value, 1)
value = transport.cast(-1, dtype)
self.assertEqual(value, 0)
value = transport.cast(5, dtype)
self.assertEqual(value, 1)
value = transport.cast(-10, dtype)
self.assertEqual(value, 0)
def make_float(bitlen):
return parser.PrimitiveType(
parser.PrimitiveType.KIND_FLOAT, bitlen,
parser.PrimitiveType.CAST_MODE_TRUNCATED)
