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-rw-r--r--meta-agl-ros2/conf/layer.conf12
-rw-r--r--templates/feature/agl-ros2/50_bblayers.conf.inc6
-rw-r--r--templates/feature/agl-ros2/50_local.conf.inc3
3 files changed, 21 insertions, 0 deletions
diff --git a/meta-agl-ros2/conf/layer.conf b/meta-agl-ros2/conf/layer.conf
new file mode 100644
index 00000000..7f155efd
--- /dev/null
+++ b/meta-agl-ros2/conf/layer.conf
@@ -0,0 +1,12 @@
+# We have a conf and classes directory, add to BBPATH
+BBPATH =. "${LAYERDIR}:"
+
+# We have recipes-* directories, add to BBFILES
+BBFILES += "${LAYERDIR}/recipes-*/*/*.bb \
+ ${LAYERDIR}/recipes-*/*/*.bbappend"
+
+BBFILE_COLLECTIONS += "aglros2"
+BBFILE_PATTERN_aglros2 = "^${LAYERDIR}/"
+BBFILE_PRIORITY_aglros2 = "70"
+
+LAYERSERIES_COMPAT_aglros2 = "dunfell"
diff --git a/templates/feature/agl-ros2/50_bblayers.conf.inc b/templates/feature/agl-ros2/50_bblayers.conf.inc
new file mode 100644
index 00000000..4c9d7ff5
--- /dev/null
+++ b/templates/feature/agl-ros2/50_bblayers.conf.inc
@@ -0,0 +1,6 @@
+# agl-ros2
+BBLAYERS =+ " \
+ ${METADIR}/meta-agl-devel/meta-agl-ros2 \
+"
+
+# PLACEHOLDER
diff --git a/templates/feature/agl-ros2/50_local.conf.inc b/templates/feature/agl-ros2/50_local.conf.inc
new file mode 100644
index 00000000..dedf7217
--- /dev/null
+++ b/templates/feature/agl-ros2/50_local.conf.inc
@@ -0,0 +1,3 @@
+# agl-ros2
+#
+# PLACEHOLDER
n167' href='#n167'>167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 
#define NANOPB_INTERNALS

#include <stdio.h>
#include <string.h>
#include "pb_encode.h"
#include "unittests.h"
#include "unittestproto.pb.h"

bool streamcallback(pb_ostream_t *stream, const uint8_t *buf, size_t count)
{
    /* Allow only 'x' to be written */
    while (count--)
    {
        if (*buf++ != 'x')
            return false;
    }
    return true;
}

bool fieldcallback(pb_ostream_t *stream, const pb_field_t *field, const void *arg)
{
    int value = 0x55;
    if (!pb_encode_tag_for_field(stream, field))
        return false;
    return pb_encode_varint(stream, value);
}

bool crazyfieldcallback(pb_ostream_t *stream, const pb_field_t *field, const void *arg)
{
    /* This callback writes different amount of data the second time. */
    uint32_t *state = (uint32_t*)arg;
    *state <<= 8;
    if (!pb_encode_tag_for_field(stream, field))
        return false;
    return pb_encode_varint(stream, *state);
}

/* Check that expression x writes data y.
 * Y is a string, which may contain null bytes. Null terminator is ignored.
 */
#define WRITES(x, y) \
memset(buffer, 0xAA, sizeof(buffer)), \
s = pb_ostream_from_buffer(buffer, sizeof(buffer)), \
(x) && \
memcmp(buffer, y, sizeof(y) - 1) == 0 && \
buffer[sizeof(y) - 1] == 0xAA

int main()
{
    int status = 0;
    
    {
        uint8_t buffer1[] = "foobartest1234";
        uint8_t buffer2[sizeof(buffer1)];
        pb_ostream_t stream = pb_ostream_from_buffer(buffer2, sizeof(buffer1));
        
        COMMENT("Test pb_write and pb_ostream_t");
        TEST(pb_write(&stream, buffer1, sizeof(buffer1)));
        TEST(memcmp(buffer1, buffer2, sizeof(buffer1)) == 0);
        TEST(!pb_write(&stream, buffer1, 1));
        TEST(stream.bytes_written == sizeof(buffer1));
    }
    
    {
        uint8_t buffer1[] = "xxxxxxx";
        pb_ostream_t stream = {&streamcallback, 0, SIZE_MAX, 0};
        
        COMMENT("Test pb_write with custom callback");
        TEST(pb_write(&stream, buffer1, 5));
        buffer1[0] = 'a';
        TEST(!pb_write(&stream, buffer1, 5));
    }
    
    {
        uint8_t buffer[30];
        pb_ostream_t s;
        
        COMMENT("Test pb_encode_varint")
        TEST(WRITES(pb_encode_varint(&s, 0), "\0"));
        TEST(WRITES(pb_encode_varint(&s, 1), "\1"));
        TEST(WRITES(pb_encode_varint(&s, 0x7F), "\x7F"));
        TEST(WRITES(pb_encode_varint(&s, 0x80), "\x80\x01"));
        TEST(WRITES(pb_encode_varint(&s, UINT32_MAX), "\xFF\xFF\xFF\xFF\x0F"));
        TEST(WRITES(pb_encode_varint(&s, UINT64_MAX), "\xFF\xFF\xFF\xFF\xFF\xFF\xFF\xFF\xFF\x01"));
    }
    
    {
        uint8_t buffer[30];
        pb_ostream_t s;
        
        COMMENT("Test pb_encode_tag")
        TEST(WRITES(pb_encode_tag(&s, PB_WT_STRING, 5), "\x2A"));
        TEST(WRITES(pb_encode_tag(&s, PB_WT_VARINT, 99), "\x98\x06"));
    }
    
    {
        uint8_t buffer[30];
        pb_ostream_t s;
        pb_field_t field = {10, PB_LTYPE_SVARINT};
        
        COMMENT("Test pb_encode_tag_for_field")
        TEST(WRITES(pb_encode_tag_for_field(&s, &field), "\x50"));
        
        field.type = PB_LTYPE_FIXED64;
        TEST(WRITES(pb_encode_tag_for_field(&s, &field), "\x51"));
        
        field.type = PB_LTYPE_STRING;
        TEST(WRITES(pb_encode_tag_for_field(&s, &field), "\x52"));
        
        field.type = PB_LTYPE_FIXED32;
        TEST(WRITES(pb_encode_tag_for_field(&s, &field), "\x55"));
    }
    
    {
        uint8_t buffer[30];
        pb_ostream_t s;
        
        COMMENT("Test pb_encode_string")
        TEST(WRITES(pb_encode_string(&s, (const uint8_t*)"abcd", 4), "\x04""abcd"));
        TEST(WRITES(pb_encode_string(&s, (const uint8_t*)"abcd\x00", 5), "\x05""abcd\x00"));
        TEST(WRITES(pb_encode_string(&s, (const uint8_t*)"", 0), "\x00"));
    }
    
    {
        uint8_t buffer[30];
        pb_ostream_t s;
        uint8_t value = 1;
        int32_t max = INT32_MAX;
        int32_t min = INT32_MIN;
        int64_t lmax = INT64_MAX;
        int64_t lmin = INT64_MIN;
        pb_field_t field = {1, PB_LTYPE_VARINT, 0, 0, sizeof(value)};
        
        COMMENT("Test pb_enc_varint and pb_enc_svarint")
        TEST(WRITES(pb_enc_varint(&s, &field, &value), "\x01"));
        
        field.data_size = sizeof(max);
        TEST(WRITES(pb_enc_svarint(&s, &field, &max), "\xfe\xff\xff\xff\x0f"));
        TEST(WRITES(pb_enc_svarint(&s, &field, &min), "\xff\xff\xff\xff\x0f"));
        
        field.data_size = sizeof(lmax);
        TEST(WRITES(pb_enc_svarint(&s, &field, &lmax), "\xFE\xFF\xFF\xFF\xFF\xFF\xFF\xFF\xFF\x01"));
        TEST(WRITES(pb_enc_svarint(&s, &field, &lmin), "\xFF\xFF\xFF\xFF\xFF\xFF\xFF\xFF\xFF\x01"));
    }
    
    {
        uint8_t buffer[30];
        pb_ostream_t s;
        float fvalue;
        double dvalue;
        
        COMMENT("Test pb_enc_fixed32 using float")
        fvalue = 0.0f;
        TEST(WRITES(pb_enc_fixed32(&s, NULL, &fvalue), "\x00\x00\x00\x00"))
        fvalue = 99.0f;
        TEST(WRITES(pb_enc_fixed32(&s, NULL, &fvalue), "\x00\x00\xc6\x42"))
        fvalue = -12345678.0f;
        TEST(WRITES(pb_enc_fixed32(&s, NULL, &fvalue), "\x4e\x61\x3c\xcb"))
    
        COMMENT("Test pb_enc_fixed64 using double")
        dvalue = 0.0;
        TEST(WRITES(pb_enc_fixed64(&s, NULL, &dvalue), "\x00\x00\x00\x00\x00\x00\x00\x00"))
        dvalue = 99.0;
        TEST(WRITES(pb_enc_fixed64(&s, NULL, &dvalue), "\x00\x00\x00\x00\x00\xc0\x58\x40"))
        dvalue = -12345678.0;
        TEST(WRITES(pb_enc_fixed64(&s, NULL, &dvalue), "\x00\x00\x00\xc0\x29\x8c\x67\xc1"))
    }
    
    {
        uint8_t buffer[30];
        pb_ostream_t s;
        struct { size_t size; uint8_t bytes[5]; } value = {5, {'x', 'y', 'z', 'z', 'y'}};
    
        COMMENT("Test pb_enc_bytes")
        TEST(WRITES(pb_enc_bytes(&s, NULL, &value), "\x05xyzzy"))
        value.size = 0;
        TEST(WRITES(pb_enc_bytes(&s, NULL, &value), "\x00"))
    }
    
    {
        uint8_t buffer[30];
        pb_ostream_t s;
        char value[] = "xyzzy";
        
        COMMENT("Test pb_enc_string")
        TEST(WRITES(pb_enc_string(&s, NULL, &value), "\x05xyzzy"))
        value[0] = '\0';
        TEST(WRITES(pb_enc_string(&s, NULL, &value), "\x00"))
    }
    
    {
        uint8_t buffer[10];
        pb_ostream_t s;
        IntegerArray msg = {5, {1, 2, 3, 4, 5}};
        
        COMMENT("Test pb_encode with int32 array")
        
        TEST(WRITES(pb_encode(&s, IntegerArray_fields, &msg), "\x0A\x05\x01\x02\x03\x04\x05"))
        
        msg.data_count = 0;
        TEST(WRITES(pb_encode(&s, IntegerArray_fields, &msg), ""))
        
        msg.data_count = 10;
        TEST(!pb_encode(&s, IntegerArray_fields, &msg))
    }
    
    {
        uint8_t buffer[10];
        pb_ostream_t s;
        FloatArray msg = {1, {99.0f}};
        
        COMMENT("Test pb_encode with float array")
        
        TEST(WRITES(pb_encode(&s, FloatArray_fields, &msg),
                    "\x0A\x04\x00\x00\xc6\x42"))
        
        msg.data_count = 0;
        TEST(WRITES(pb_encode(&s, FloatArray_fields, &msg), ""))
        
        msg.data_count = 3;
        TEST(!pb_encode(&s, FloatArray_fields, &msg))
    }
    
    {
        uint8_t buffer[10];
        pb_ostream_t s;
        CallbackArray msg;
        
        msg.data.funcs.encode = &fieldcallback;
        
        COMMENT("Test pb_encode with callback field.")
        TEST(WRITES(pb_encode(&s, CallbackArray_fields, &msg), "\x08\x55"))
    }
    
    {
        uint8_t buffer[10];
        pb_ostream_t s;
        IntegerContainer msg = {{5, {1,2,3,4,5}}};
        
        COMMENT("Test pb_encode with packed array in a submessage.")
        TEST(WRITES(pb_encode(&s, IntegerContainer_fields, &msg),
                    "\x0A\x07\x0A\x05\x01\x02\x03\x04\x05"))
    }
    
    {
        uint8_t buffer[10];
        pb_ostream_t s;
        CallbackContainer msg;
        CallbackContainerContainer msg2;
        uint32_t state = 1;
        
        msg.submsg.data.funcs.encode = &fieldcallback;
        msg2.submsg.submsg.data.funcs.encode = &fieldcallback;
        
        COMMENT("Test pb_encode with callback field in a submessage.")
        TEST(WRITES(pb_encode(&s, CallbackContainer_fields, &msg), "\x0A\x02\x08\x55"))
        TEST(WRITES(pb_encode(&s, CallbackContainerContainer_fields, &msg2),
                    "\x0A\x04\x0A\x02\x08\x55"))
        
        /* Misbehaving callback: varying output between calls */
        msg.submsg.data.funcs.encode = &crazyfieldcallback;
        msg.submsg.data.arg = &state;
        msg2.submsg.submsg.data.funcs.encode = &crazyfieldcallback;
        msg2.submsg.submsg.data.arg = &state;
        
        TEST(!pb_encode(&s, CallbackContainer_fields, &msg))
        state = 1;
        TEST(!pb_encode(&s, CallbackContainerContainer_fields, &msg2))
    }
    
    if (status != 0)
        fprintf(stdout, "\n\nSome tests FAILED!\n");
    
    return status;
}