int main(int argc, char *argv[]) {
if (argc==1) {
{
char seq[] = {42,0,0,0};
testSequence(seq,sizeof(seq),"vector int32 1 *",Bottle("42"));
}
{
char seq[] = {6,0,0,0,'h','e','l','l','o','\0'};
testSequence(seq,sizeof(seq),"vector string 1 *",Bottle("hello"));
}
{
char seq[] = {2,0,0,0,42,0,0,0,55,0,0,0};
testSequence(seq,sizeof(seq),"vector int32 *",Bottle("42 55"));
}
{
char seq[] = {2,0,0,0,4,0,0,0,'f','o','o','\0',4,0,0,0,'b','a','r','\0'};
testSequence(seq,sizeof(seq),"vector string *",Bottle("foo bar"));
}
{
char seq[] = {2,0,0,0,4,0,0,0,'f','o','o','\0',4,0,0,0,'b','a','r','\0',12,0,0,0};
testSequence(seq,sizeof(seq),"list 2 vector string * int32 *",Bottle("(foo bar) 12"));
}
{
char seq[] = {2,0,0,0,4,0,0,0,'f','o','o','\0',4,0,0,0,'b','a','r','\0',12,0,0,0,2,0,0,0,42,0,0,0,24,0,0,0};
testSequence(seq,sizeof(seq),"list 3 vector string * int32 * vector int32 *",Bottle("(foo bar) 12 (42 24)"));
}
{
char seq[] = {42,0,0,0,24,0,0,0};
testSequence(seq,sizeof(seq),"vector int32 2 *",Bottle("42 24"));
}
{
char seq[] = {6,0,0,0,'h','e','l','l','o','\0',12,0,0,0};
testSequence(seq,sizeof(seq),"list 2 string * int32 *",Bottle("hello 12"));
}
{
char seq[] = {6,0,0,0,'h','e','l','l','o','\0',12,0,0,0,42,0,0,0};
testSequence(seq,sizeof(seq),"list 3 string * int32 * int32 *",Bottle("hello 12 42"));
}
{
char seq[] = {6,0,0,0,'h','e','l','l','o','\0',12,0,0,0,42,0,0,0};
testSequence(seq,sizeof(seq),"list 2 string * skip int32 * int32 *",Bottle("hello 42"),false);
}
{
char seq[] = {33,0,0,0,42,0,0,0};
testSequence(seq,sizeof(seq),"list 1 skip int32 * int32 *",Bottle("42"),false);
}
{
char seq[] = {99,0,0,0,42,0,0,0};
testSequence(seq,sizeof(seq),"skip int32 * list 1 int32 *",Bottle("42"),false);
}
}
if (argc==2) {
WireTwiddler tt;
Bottle b(argv[1]);
printf(">>> %s\n", tt.fromTemplate(b).c_str());
}
return 0;
}
void testSequence(char *seq,
size_t len,
const char *fmt,
Bottle ref,
bool testWrite = true)
{
char err[1024];
printf("\n");
printf("================================================\n");
printf(" READ %s\n", fmt);
Bytes b1(seq, len);
WireTwiddler tt;
tt.configure(fmt, fmt);
printf(">>> %s\n", tt.toString().c_str());
Bottle bot;
checkTrue(tt.read(bot, b1), "Read failed");
snprintf(err, 1024, "%s: read %s, expected %s", fmt, bot.toString().c_str(), ref.toString().c_str());
checkTrue(bot == ref, err);
printf("[1] %s: read %s as expected\n", fmt, bot.toString().c_str());
StringInputStream sis;
sis.add(b1);
sis.add(b1);
WireTwiddlerReader twiddled_input(sis, tt);
Route route;
bot.clear();
twiddled_input.reset();
ConnectionReader::readFromStream(bot, twiddled_input);
snprintf(err, 1024, "%s: read %s, expected %s", fmt, bot.toString().c_str(), ref.toString().c_str());
checkTrue(bot == ref, err);
printf("[2] %s: read %s as expected\n", fmt, bot.toString().c_str());
bot.clear();
twiddled_input.reset();
ConnectionReader::readFromStream(bot, twiddled_input);
snprintf(err, 1024, "%s: read %s, expected %s", fmt, bot.toString().c_str(), ref.toString().c_str());
checkTrue(bot == ref, err);
printf("[3] %s: read %s as expected\n", fmt, bot.toString().c_str());
if (testWrite) {
printf("\n");
printf("================================================\n");
printf(" WRITE %s\n", fmt);
ManagedBytes output;
checkTrue(tt.write(ref, output), "WRITE FAILED");
snprintf(err, 1024, "WRITE MISMATCH, length %zd, expected %zd", output.length(), len);
checkTrue(output.length() == len, err);
for (size_t i = 0; i < output.length(); i++) {
snprintf(err, 1024, "WRITE MISMATCH, at %zd, have [%d:%c] expected [%d:%c]\n", i, output.get()[i], output.get()[i], seq[i], seq[i]);
checkTrue(output.get()[i] == seq[i], err);
}
printf("[4] %s: wrote %s as expected\n", fmt, bot.toString().c_str());
}
}
bool TcpRosStream::configureTwiddler(WireTwiddler& twiddler, const char *txt, const char *prompt, bool sender, bool reply) {
dbg_printf("CONFIGURE AS %s [%s/%s]\n", txt,
sender?"sender":"receiver",
reply?"reply":"main");
ConstString str(txt);
if (reply) {
YARP_SSIZE_T idx = str.find("---");
if (idx!=ConstString::npos) {
str = str.substr(idx+3,str.length());
}
}
str = ConstString("skip int32 * ") + str;
if (reply) {
str = ConstString("skip int8 * ") + str;
}
return twiddler.configure(str.c_str(),prompt);
}
bool testSequence(char *seq, int len, const char *fmt, Bottle ref,
bool testWrite = true) {
printf("\n");
printf("================================================\n");
printf(" READ %s\n", fmt);
Bytes b1(seq,len);
WireTwiddler tt;
tt.configure(fmt);
printf(">>> %s\n", tt.toString().c_str());
Bottle bot;
if (!tt.read(bot,b1)) {
fprintf(stderr,"Read failed\n");
return 1;
}
if (bot!=ref) {
printf("%s: read %s, expected %s\n", fmt,
bot.toString().c_str(),
ref.toString().c_str());
printf("MISMATCH\n");
exit(1);
return false;
}
printf("[1] %s: read %s as expected\n", fmt, bot.toString().c_str());
StringInputStream sis;
sis.add(b1);
sis.add(b1);
WireTwiddlerReader twiddled_input(sis,tt);
Route route;
StreamConnectionReader reader2;
reader2.reset(twiddled_input,NULL,route,0,false);
bot.clear();
twiddled_input.reset();
bot.read(reader2);
if (bot!=ref) {
printf("%s: read %s, expected %s\n", fmt,
bot.toString().c_str(),
ref.toString().c_str());
printf("MISMATCH\n");
exit(1);
return false;
}
printf("[2] %s: read %s as expected\n", fmt, bot.toString().c_str());
StreamConnectionReader reader3;
reader3.reset(twiddled_input,NULL,route,0,false);
bot.clear();
twiddled_input.reset();
bot.read(reader3);
if (bot!=ref) {
printf("%s: read %s, expected %s\n", fmt,
bot.toString().c_str(),
ref.toString().c_str());
printf("MISMATCH\n");
exit(1);
return false;
}
printf("[3] %s: read %s as expected\n", fmt, bot.toString().c_str());
if (testWrite) {
printf("\n");
printf("================================================\n");
printf(" WRITE %s\n", fmt);
ManagedBytes output;
tt.write(ref,output);
if (output.length()!=(size_t)len) {
fprintf(stderr,"WRITE MISMATCH, length %d, expected %d\n",
(int)output.length(), len);
exit(1);
return false;
}
for (size_t i=0; i<output.length(); i++) {
if (output.get()[i] != seq[i]) {
fprintf(stderr,"WRITE MISMATCH, at %d, have [%d:%c] expected [%d:%c]\n",
(int)i, output.get()[i], output.get()[i], seq[i], seq[i]);
exit(1);
return false;
}
}
printf("[4] %s: wrote %s as expected\n", fmt, bot.toString().c_str());
}
return true;
}