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DimaRUDimaRU
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Add fixed size array tests
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‎Tests/CDRCodableTests/CDRCodableFixedArrayTests.swift

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import XCTest
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@testable import CDRCodable
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class CDRCodableFixedArrayTests: XCTestCase {
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let testDump: [UInt8] =
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[0x2d, 0x67, 0xb1, 0x65, 0x5a, 0x4a, 0xa0, 0x1e, 0x1f, 0x00, 0x00, 0x00, 0x72, 0x61, 0x65, 0x5f,
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0x72, 0x69, 0x67, 0x68, 0x74, 0x5f, 0x63, 0x61, 0x6d, 0x65, 0x72, 0x61, 0x5f, 0x6f, 0x70, 0x74,
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0x69, 0x63, 0x61, 0x6c, 0x5f, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x90, 0x01, 0x00, 0x00,
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0x80, 0x02, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x72, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x61, 0x6c,
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0x5f, 0x70, 0x6f, 0x6c, 0x79, 0x6e, 0x6f, 0x6d, 0x69, 0x61, 0x6c, 0x00, 0x08, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0xc0, 0x61, 0xbd, 0x71, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0xcc, 0x22, 0x74, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0xc0, 0x61, 0xbd, 0x71, 0x40, 0x00, 0x00, 0x00, 0xe0, 0xe4, 0x98, 0x68, 0x40,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x3f,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x3f,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x3f,
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0x00, 0x00, 0x00, 0xa0, 0x68, 0xee, 0x71, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x20, 0xbc, 0x9a, 0x74, 0x40, 0x29, 0x8c, 0x51, 0x7b, 0xef, 0x7c, 0x35, 0x40,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa0, 0x68, 0xee, 0x71, 0x40,
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0x00, 0x00, 0x00, 0xc0, 0xdb, 0x4d, 0x6a, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 ]
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var decoder: CDRDecoder!
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var encoder: CDREncoder!
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override func setUp() {
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decoder = CDRDecoder()
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encoder = CDREncoder()
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}
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func testFixedSizeArrayDecodeEncode() {
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let cameraInfo = CameraInfo(
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header: RosHeader(stamp: RosTimeStamp(sec: 1706125101,
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nanosec: 513821274),
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frameId: "rae_right_camera_optical_frame"),
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height: 400,
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width: 640,
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distortion_model: "rational_polynomial",
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d: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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k: [283.83636474609375, 0.0, 322.1748046875, 0.0, 283.83636474609375, 196.77793884277344, 0.0, 0.0, 1.0],
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r: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
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p: [286.9005432128906, 0.0, 329.6709289550781, 21.488029200944002, 0.0, 286.9005432128906, 210.43307495117188, 0.0, 0.0, 0.0, 1.0, 0.0],
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binningX: 0,
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binningY: 0,
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roi: CameraInfo.RegionOfInterest(x_offset: 0,
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y_offset: 0,
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height: 0,
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width: 0,
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do_rectify: false)
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)
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let data = Data(testDump)
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let value = try! decoder.decode(CameraInfo.self, from: data)
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XCTAssertEqual(value, cameraInfo)
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let dataBack = try! encoder.encode(value)
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XCTAssertEqual(dataBack, data)
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}
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}

‎Tests/CDRCodableTests/CameraInfo.swift

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/////
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//// CameraInfo.swift
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/// Copyright © 2024 Dmitriy Borovikov. All rights reserved.
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//
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import Foundation
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struct CameraInfo: Codable, Equatable {
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struct RegionOfInterest: Codable, Equatable {
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let x_offset: UInt32 // (0 if the ROI includes the left edge of the image)
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let y_offset: UInt32 // (0 if the ROI includes the top edge of the image)
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let height: UInt32 //
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let width: UInt32 //
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let do_rectify: Bool
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}
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let header: RosHeader
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let height: UInt32
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let width: UInt32
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let distortion_model: String
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let d: [Double]
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let k: [Double] // 9
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let r: [Double] // 9
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let p: [Double] // 12
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let binningX: UInt32
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let binningY: UInt32
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let roi: RegionOfInterest
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// Fixed size array discriminators
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enum CodingKeys: Int, CodingKey {
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case header = 0
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case height = 1
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case width = 2
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case distortion_model = 3
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case d = 4
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case k = 0x90005
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case r = 0x90006
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case p = 0xc0007
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case binningX = 8
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case binningY = 9
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case roi = 10
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}
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}

‎Tests/CDRCodableTests/RosCommon.swift

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/////
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//// RosCommon.swift
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/// Copyright © 2024 Dmitriy Borovikov. All rights reserved.
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//
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import Foundation
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struct RosTimeStamp: Codable, Equatable {
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let sec: Int32
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let nanosec: UInt32
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}
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struct RosHeader: Codable, Equatable {
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let stamp: RosTimeStamp
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let frameId: String
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}

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