From a5c6ad3d94bc1ac1938f15bc7e491e30f066e5c8 Mon Sep 17 00:00:00 2001
From: Dmitriy Borovikov <dmitry@borovikov.name>
Date: Fri, 2 Feb 2024 20:36:55 +0300
Subject: [PATCH] Add fixed size array tests

---
 .../CDRCodableFixedArrayTests.swift           | 71 +++++++++++++++++++
 Tests/CDRCodableTests/CameraInfo.swift        | 45 ++++++++++++
 Tests/CDRCodableTests/RosCommon.swift         | 16 +++++
 3 files changed, 132 insertions(+)
 create mode 100644 Tests/CDRCodableTests/CDRCodableFixedArrayTests.swift
 create mode 100644 Tests/CDRCodableTests/CameraInfo.swift
 create mode 100644 Tests/CDRCodableTests/RosCommon.swift

diff --git a/Tests/CDRCodableTests/CDRCodableFixedArrayTests.swift b/Tests/CDRCodableTests/CDRCodableFixedArrayTests.swift
new file mode 100644
index 0000000..bab68dd
--- /dev/null
+++ b/Tests/CDRCodableTests/CDRCodableFixedArrayTests.swift
@@ -0,0 +1,71 @@
+import XCTest
+@testable import CDRCodable
+
+class CDRCodableFixedArrayTests: XCTestCase {
+    let testDump: [UInt8] =
+[0x2d, 0x67, 0xb1, 0x65, 0x5a, 0x4a, 0xa0, 0x1e, 0x1f, 0x00, 0x00, 0x00, 0x72, 0x61, 0x65, 0x5f,
+ 0x72, 0x69, 0x67, 0x68, 0x74, 0x5f, 0x63, 0x61, 0x6d, 0x65, 0x72, 0x61, 0x5f, 0x6f, 0x70, 0x74,
+ 0x69, 0x63, 0x61, 0x6c, 0x5f, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x90, 0x01, 0x00, 0x00,
+ 0x80, 0x02, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x72, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x61, 0x6c,
+ 0x5f, 0x70, 0x6f, 0x6c, 0x79, 0x6e, 0x6f, 0x6d, 0x69, 0x61, 0x6c, 0x00, 0x08, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0xc0, 0x61, 0xbd, 0x71, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0xcc, 0x22, 0x74, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0xc0, 0x61, 0xbd, 0x71, 0x40, 0x00, 0x00, 0x00, 0xe0, 0xe4, 0x98, 0x68, 0x40,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x3f,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x3f,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x3f,
+ 0x00, 0x00, 0x00, 0xa0, 0x68, 0xee, 0x71, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x20, 0xbc, 0x9a, 0x74, 0x40, 0x29, 0x8c, 0x51, 0x7b, 0xef, 0x7c, 0x35, 0x40,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa0, 0x68, 0xee, 0x71, 0x40,
+ 0x00, 0x00, 0x00, 0xc0, 0xdb, 0x4d, 0x6a, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf0, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 ]
+    
+    var decoder: CDRDecoder!
+    var encoder: CDREncoder!
+
+    override func setUp() {
+        decoder = CDRDecoder()
+        encoder = CDREncoder()
+    }
+
+    func testFixedSizeArrayDecodeEncode() {
+        
+        let cameraInfo = CameraInfo(
+            header: RosHeader(stamp: RosTimeStamp(sec: 1706125101, 
+                                                  nanosec: 513821274),
+                              frameId: "rae_right_camera_optical_frame"),
+            height: 400,
+            width: 640,
+            distortion_model: "rational_polynomial",
+            d: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            k: [283.83636474609375, 0.0, 322.1748046875, 0.0, 283.83636474609375, 196.77793884277344, 0.0, 0.0, 1.0],
+            r: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
+            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],
+            binningX: 0,
+            binningY: 0,
+            roi: CameraInfo.RegionOfInterest(x_offset: 0,
+                                             y_offset: 0,
+                                             height: 0,
+                                             width: 0,
+                                             do_rectify: false)
+        )
+        
+        
+        let data = Data(testDump)
+        let value = try! decoder.decode(CameraInfo.self, from: data)
+        XCTAssertEqual(value, cameraInfo)
+
+        let dataBack = try! encoder.encode(value)
+        XCTAssertEqual(dataBack, data)
+    }
+}
diff --git a/Tests/CDRCodableTests/CameraInfo.swift b/Tests/CDRCodableTests/CameraInfo.swift
new file mode 100644
index 0000000..d95bbdd
--- /dev/null
+++ b/Tests/CDRCodableTests/CameraInfo.swift
@@ -0,0 +1,45 @@
+/////
+////  CameraInfo.swift
+///   Copyright © 2024 Dmitriy Borovikov. All rights reserved.
+//
+
+import Foundation
+
+struct CameraInfo: Codable, Equatable {
+    struct RegionOfInterest: Codable, Equatable {
+        let x_offset: UInt32  // (0 if the ROI includes the left edge of the image)
+        let y_offset: UInt32  // (0 if the ROI includes the top edge of the image)
+        let height: UInt32    //
+        let width: UInt32     //
+        let do_rectify: Bool
+    }
+
+    let header: RosHeader
+    let height: UInt32
+    let width: UInt32
+    let distortion_model: String
+    let d: [Double]
+    
+    let k: [Double]     // 9
+    let r: [Double]     // 9
+    let p: [Double]     // 12
+    
+    let binningX: UInt32
+    let binningY: UInt32
+    let roi: RegionOfInterest
+
+    // Fixed size array discriminators
+    enum CodingKeys: Int, CodingKey {
+        case header = 0
+        case height = 1
+        case width = 2
+        case distortion_model = 3
+        case d = 4
+        case k = 0x90005
+        case r = 0x90006
+        case p = 0xc0007
+        case binningX = 8
+        case binningY = 9
+        case roi = 10
+    }
+}
diff --git a/Tests/CDRCodableTests/RosCommon.swift b/Tests/CDRCodableTests/RosCommon.swift
new file mode 100644
index 0000000..2340dea
--- /dev/null
+++ b/Tests/CDRCodableTests/RosCommon.swift
@@ -0,0 +1,16 @@
+/////
+////  RosCommon.swift
+///   Copyright © 2024 Dmitriy Borovikov. All rights reserved.
+//
+
+import Foundation
+
+struct RosTimeStamp: Codable, Equatable {
+    let sec: Int32
+    let nanosec: UInt32
+}
+
+struct RosHeader: Codable, Equatable {
+    let stamp: RosTimeStamp
+    let frameId: String
+}