Add unit tests for Rust

Makefile

@@ -229,6 +229,14 @@ gen-rust:
 					-o $(SWIFTNAV_ROOT)/rust/ \
 					-r $(SBP_MAJOR_VERSION).$(SBP_MINOR_VERSION).$(SBP_PATCH_VERSION) \
 					--rust
+
+	$(call announce-begin,"Generating Rust tests")
+	cd $(SWIFTNAV_ROOT)/generator; \
+	$(SBP_GEN_BIN) -i $(SBP_TESTS_SPEC_DIR) \
+	-o $(SWIFTNAV_ROOT)/rust/sbp/tests/ \
+                       -r $(SBP_MAJOR_VERSION).$(SBP_MINOR_VERSION).$(SBP_PATCH_VERSION) \
+	               --test-rust
+
 	cd $(SWIFTNAV_ROOT)/rust/sbp && cargo fmt
 	$(call announce-begin,"Finished generating Rust bindings")
 

c/include/libsbp/cpp/message_traits.h

@@ -37,8 +37,14 @@
 
 namespace sbp {
 
+/**
+ * Type traits containing meta-information for each SBP message type.
+ *
+ * These are only meant to be used by the C++ library at compile time.
+ * These are automatically generated, DO NOT EDIT.
+ */
 template<typename>
-struct MessageTraits { };
+struct MessageTraits;
 
 
 template<>
@@ -803,6 +809,12 @@ struct MessageTraits<msg_vel_ecef_cov_t> {
 };
 
 
+template<>
+struct MessageTraits<msg_protection_level_t> {
+  static constexpr u16 id = 534;
+};
+
+
 template<>
 struct MessageTraits<msg_orient_quat_t> {
   static constexpr u16 id = 544;

c/test/auto_check_sbp_navigation_13.c

@@ -125,18 +125,18 @@ START_TEST( test_auto_check_sbp_navigation_13 )
     msg_pos_ecef_cov_t* msg = ( msg_pos_ecef_cov_t *)((void *)last_msg + 6);
     // Run tests against fields
     fail_unless(msg != 0, "stub to prevent warnings if msg isn't used");
-    fail_unless(msg->cov_x_x == 8, "incorrect value for cov_x_x, expected 8, is %d", msg->cov_x_x);
-    fail_unless(msg->cov_x_y == 7, "incorrect value for cov_x_y, expected 7, is %d", msg->cov_x_y);
-    fail_unless(msg->cov_x_z == 2, "incorrect value for cov_x_z, expected 2, is %d", msg->cov_x_z);
-    fail_unless(msg->cov_y_y == 6, "incorrect value for cov_y_y, expected 6, is %d", msg->cov_y_y);
-    fail_unless(msg->cov_y_z == 8, "incorrect value for cov_y_z, expected 8, is %d", msg->cov_y_z);
-    fail_unless(msg->cov_z_z == 5, "incorrect value for cov_z_z, expected 5, is %d", msg->cov_z_z);
+    fail_unless((msg->cov_x_x*100 - 8.0*100) < 0.05, "incorrect value for cov_x_x, expected 8.0, is %f", msg->cov_x_x);
+    fail_unless((msg->cov_x_y*100 - 7.0*100) < 0.05, "incorrect value for cov_x_y, expected 7.0, is %f", msg->cov_x_y);
+    fail_unless((msg->cov_x_z*100 - 2.0*100) < 0.05, "incorrect value for cov_x_z, expected 2.0, is %f", msg->cov_x_z);
+    fail_unless((msg->cov_y_y*100 - 6.0*100) < 0.05, "incorrect value for cov_y_y, expected 6.0, is %f", msg->cov_y_y);
+    fail_unless((msg->cov_y_z*100 - 8.0*100) < 0.05, "incorrect value for cov_y_z, expected 8.0, is %f", msg->cov_y_z);
+    fail_unless((msg->cov_z_z*100 - 5.0*100) < 0.05, "incorrect value for cov_z_z, expected 5.0, is %f", msg->cov_z_z);
     fail_unless(msg->flags == 5, "incorrect value for flags, expected 5, is %d", msg->flags);
     fail_unless(msg->n_sats == 4, "incorrect value for n_sats, expected 4, is %d", msg->n_sats);
     fail_unless(msg->tow == 7, "incorrect value for tow, expected 7, is %d", msg->tow);
-    fail_unless(msg->x == 6, "incorrect value for x, expected 6, is %d", msg->x);
-    fail_unless(msg->y == 1, "incorrect value for y, expected 1, is %d", msg->y);
-    fail_unless(msg->z == 4, "incorrect value for z, expected 4, is %d", msg->z);
+    fail_unless((msg->x*100 - 6.0*100) < 0.05, "incorrect value for x, expected 6.0, is %f", msg->x);
+    fail_unless((msg->y*100 - 1.0*100) < 0.05, "incorrect value for y, expected 1.0, is %f", msg->y);
+    fail_unless((msg->z*100 - 4.0*100) < 0.05, "incorrect value for z, expected 4.0, is %f", msg->z);
   }
 }
 END_TEST

c/test/auto_check_sbp_navigation_16.c

@@ -125,16 +125,16 @@ START_TEST( test_auto_check_sbp_navigation_16 )
     msg_pos_llh_cov_t* msg = ( msg_pos_llh_cov_t *)((void *)last_msg + 6);
     // Run tests against fields
     fail_unless(msg != 0, "stub to prevent warnings if msg isn't used");
-    fail_unless(msg->cov_d_d == 2, "incorrect value for cov_d_d, expected 2, is %d", msg->cov_d_d);
-    fail_unless(msg->cov_e_d == 1, "incorrect value for cov_e_d, expected 1, is %d", msg->cov_e_d);
-    fail_unless(msg->cov_e_e == 6, "incorrect value for cov_e_e, expected 6, is %d", msg->cov_e_e);
-    fail_unless(msg->cov_n_d == 8, "incorrect value for cov_n_d, expected 8, is %d", msg->cov_n_d);
-    fail_unless(msg->cov_n_e == 5, "incorrect value for cov_n_e, expected 5, is %d", msg->cov_n_e);
-    fail_unless(msg->cov_n_n == 7, "incorrect value for cov_n_n, expected 7, is %d", msg->cov_n_n);
+    fail_unless((msg->cov_d_d*100 - 2.0*100) < 0.05, "incorrect value for cov_d_d, expected 2.0, is %f", msg->cov_d_d);
+    fail_unless((msg->cov_e_d*100 - 1.0*100) < 0.05, "incorrect value for cov_e_d, expected 1.0, is %f", msg->cov_e_d);
+    fail_unless((msg->cov_e_e*100 - 6.0*100) < 0.05, "incorrect value for cov_e_e, expected 6.0, is %f", msg->cov_e_e);
+    fail_unless((msg->cov_n_d*100 - 8.0*100) < 0.05, "incorrect value for cov_n_d, expected 8.0, is %f", msg->cov_n_d);
+    fail_unless((msg->cov_n_e*100 - 5.0*100) < 0.05, "incorrect value for cov_n_e, expected 5.0, is %f", msg->cov_n_e);
+    fail_unless((msg->cov_n_n*100 - 7.0*100) < 0.05, "incorrect value for cov_n_n, expected 7.0, is %f", msg->cov_n_n);
     fail_unless(msg->flags == 5, "incorrect value for flags, expected 5, is %d", msg->flags);
-    fail_unless(msg->height == 0, "incorrect value for height, expected 0, is %d", msg->height);
-    fail_unless(msg->lat == 0, "incorrect value for lat, expected 0, is %d", msg->lat);
-    fail_unless(msg->lon == 7, "incorrect value for lon, expected 7, is %d", msg->lon);
+    fail_unless((msg->height*100 - 0.0*100) < 0.05, "incorrect value for height, expected 0.0, is %f", msg->height);
+    fail_unless((msg->lat*100 - 0.0*100) < 0.05, "incorrect value for lat, expected 0.0, is %f", msg->lat);
+    fail_unless((msg->lon*100 - 7.0*100) < 0.05, "incorrect value for lon, expected 7.0, is %f", msg->lon);
     fail_unless(msg->n_sats == 5, "incorrect value for n_sats, expected 5, is %d", msg->n_sats);
     fail_unless(msg->tow == 7, "incorrect value for tow, expected 7, is %d", msg->tow);
   }

c/test/auto_check_sbp_navigation_18.c

@@ -125,12 +125,12 @@ START_TEST( test_auto_check_sbp_navigation_18 )
     msg_vel_body_t* msg = ( msg_vel_body_t *)((void *)last_msg + 6);
     // Run tests against fields
     fail_unless(msg != 0, "stub to prevent warnings if msg isn't used");
-    fail_unless(msg->cov_x_x == 0, "incorrect value for cov_x_x, expected 0, is %d", msg->cov_x_x);
-    fail_unless(msg->cov_x_y == 5, "incorrect value for cov_x_y, expected 5, is %d", msg->cov_x_y);
-    fail_unless(msg->cov_x_z == 7, "incorrect value for cov_x_z, expected 7, is %d", msg->cov_x_z);
-    fail_unless(msg->cov_y_y == 7, "incorrect value for cov_y_y, expected 7, is %d", msg->cov_y_y);
-    fail_unless(msg->cov_y_z == 3, "incorrect value for cov_y_z, expected 3, is %d", msg->cov_y_z);
-    fail_unless(msg->cov_z_z == 2, "incorrect value for cov_z_z, expected 2, is %d", msg->cov_z_z);
+    fail_unless((msg->cov_x_x*100 - 0.0*100) < 0.05, "incorrect value for cov_x_x, expected 0.0, is %f", msg->cov_x_x);
+    fail_unless((msg->cov_x_y*100 - 5.0*100) < 0.05, "incorrect value for cov_x_y, expected 5.0, is %f", msg->cov_x_y);
+    fail_unless((msg->cov_x_z*100 - 7.0*100) < 0.05, "incorrect value for cov_x_z, expected 7.0, is %f", msg->cov_x_z);
+    fail_unless((msg->cov_y_y*100 - 7.0*100) < 0.05, "incorrect value for cov_y_y, expected 7.0, is %f", msg->cov_y_y);
+    fail_unless((msg->cov_y_z*100 - 3.0*100) < 0.05, "incorrect value for cov_y_z, expected 3.0, is %f", msg->cov_y_z);
+    fail_unless((msg->cov_z_z*100 - 2.0*100) < 0.05, "incorrect value for cov_z_z, expected 2.0, is %f", msg->cov_z_z);
     fail_unless(msg->flags == 8, "incorrect value for flags, expected 8, is %d", msg->flags);
     fail_unless(msg->n_sats == 3, "incorrect value for n_sats, expected 3, is %d", msg->n_sats);
     fail_unless(msg->tow == 1, "incorrect value for tow, expected 1, is %d", msg->tow);

c/test/auto_check_sbp_navigation_20.c

@@ -125,12 +125,12 @@ START_TEST( test_auto_check_sbp_navigation_20 )
     msg_vel_ecef_cov_t* msg = ( msg_vel_ecef_cov_t *)((void *)last_msg + 6);
     // Run tests against fields
     fail_unless(msg != 0, "stub to prevent warnings if msg isn't used");
-    fail_unless(msg->cov_x_x == 2, "incorrect value for cov_x_x, expected 2, is %d", msg->cov_x_x);
-    fail_unless(msg->cov_x_y == 2, "incorrect value for cov_x_y, expected 2, is %d", msg->cov_x_y);
-    fail_unless(msg->cov_x_z == 2, "incorrect value for cov_x_z, expected 2, is %d", msg->cov_x_z);
-    fail_unless(msg->cov_y_y == 2, "incorrect value for cov_y_y, expected 2, is %d", msg->cov_y_y);
-    fail_unless(msg->cov_y_z == 1, "incorrect value for cov_y_z, expected 1, is %d", msg->cov_y_z);
-    fail_unless(msg->cov_z_z == 3, "incorrect value for cov_z_z, expected 3, is %d", msg->cov_z_z);
+    fail_unless((msg->cov_x_x*100 - 2.0*100) < 0.05, "incorrect value for cov_x_x, expected 2.0, is %f", msg->cov_x_x);
+    fail_unless((msg->cov_x_y*100 - 2.0*100) < 0.05, "incorrect value for cov_x_y, expected 2.0, is %f", msg->cov_x_y);
+    fail_unless((msg->cov_x_z*100 - 2.0*100) < 0.05, "incorrect value for cov_x_z, expected 2.0, is %f", msg->cov_x_z);
+    fail_unless((msg->cov_y_y*100 - 2.0*100) < 0.05, "incorrect value for cov_y_y, expected 2.0, is %f", msg->cov_y_y);
+    fail_unless((msg->cov_y_z*100 - 1.0*100) < 0.05, "incorrect value for cov_y_z, expected 1.0, is %f", msg->cov_y_z);
+    fail_unless((msg->cov_z_z*100 - 3.0*100) < 0.05, "incorrect value for cov_z_z, expected 3.0, is %f", msg->cov_z_z);
     fail_unless(msg->flags == 4, "incorrect value for flags, expected 4, is %d", msg->flags);
     fail_unless(msg->n_sats == 3, "incorrect value for n_sats, expected 3, is %d", msg->n_sats);
     fail_unless(msg->tow == 2, "incorrect value for tow, expected 2, is %d", msg->tow);

c/test/auto_check_sbp_navigation_23.c

@@ -125,12 +125,12 @@ START_TEST( test_auto_check_sbp_navigation_23 )
     msg_vel_ned_cov_t* msg = ( msg_vel_ned_cov_t *)((void *)last_msg + 6);
     // Run tests against fields
     fail_unless(msg != 0, "stub to prevent warnings if msg isn't used");
-    fail_unless(msg->cov_d_d == 1, "incorrect value for cov_d_d, expected 1, is %d", msg->cov_d_d);
-    fail_unless(msg->cov_e_d == 1, "incorrect value for cov_e_d, expected 1, is %d", msg->cov_e_d);
-    fail_unless(msg->cov_e_e == 1, "incorrect value for cov_e_e, expected 1, is %d", msg->cov_e_e);
-    fail_unless(msg->cov_n_d == 1, "incorrect value for cov_n_d, expected 1, is %d", msg->cov_n_d);
-    fail_unless(msg->cov_n_e == 1, "incorrect value for cov_n_e, expected 1, is %d", msg->cov_n_e);
-    fail_unless(msg->cov_n_n == 1, "incorrect value for cov_n_n, expected 1, is %d", msg->cov_n_n);
+    fail_unless((msg->cov_d_d*100 - 1.0*100) < 0.05, "incorrect value for cov_d_d, expected 1.0, is %f", msg->cov_d_d);
+    fail_unless((msg->cov_e_d*100 - 1.0*100) < 0.05, "incorrect value for cov_e_d, expected 1.0, is %f", msg->cov_e_d);
+    fail_unless((msg->cov_e_e*100 - 1.0*100) < 0.05, "incorrect value for cov_e_e, expected 1.0, is %f", msg->cov_e_e);
+    fail_unless((msg->cov_n_d*100 - 1.0*100) < 0.05, "incorrect value for cov_n_d, expected 1.0, is %f", msg->cov_n_d);
+    fail_unless((msg->cov_n_e*100 - 1.0*100) < 0.05, "incorrect value for cov_n_e, expected 1.0, is %f", msg->cov_n_e);
+    fail_unless((msg->cov_n_n*100 - 1.0*100) < 0.05, "incorrect value for cov_n_n, expected 1.0, is %f", msg->cov_n_n);
     fail_unless(msg->e == 1, "incorrect value for e, expected 1, is %d", msg->e);
     fail_unless(msg->flags == 0, "incorrect value for flags, expected 0, is %d", msg->flags);
     fail_unless(msg->n == 1, "incorrect value for n, expected 1, is %d", msg->n);

c/test/auto_check_sbp_orientation_28.c

@@ -127,12 +127,12 @@ START_TEST( test_auto_check_sbp_orientation_28 )
     fail_unless(msg != 0, "stub to prevent warnings if msg isn't used");
     fail_unless(msg->flags == 3, "incorrect value for flags, expected 3, is %d", msg->flags);
     fail_unless(msg->pitch == 2, "incorrect value for pitch, expected 2, is %d", msg->pitch);
-    fail_unless(msg->pitch_accuracy == 3, "incorrect value for pitch_accuracy, expected 3, is %d", msg->pitch_accuracy);
+    fail_unless((msg->pitch_accuracy*100 - 3.0*100) < 0.05, "incorrect value for pitch_accuracy, expected 3.0, is %f", msg->pitch_accuracy);
     fail_unless(msg->roll == 1, "incorrect value for roll, expected 1, is %d", msg->roll);
-    fail_unless(msg->roll_accuracy == 7, "incorrect value for roll_accuracy, expected 7, is %d", msg->roll_accuracy);
+    fail_unless((msg->roll_accuracy*100 - 7.0*100) < 0.05, "incorrect value for roll_accuracy, expected 7.0, is %f", msg->roll_accuracy);
     fail_unless(msg->tow == 1, "incorrect value for tow, expected 1, is %d", msg->tow);
     fail_unless(msg->yaw == 8, "incorrect value for yaw, expected 8, is %d", msg->yaw);
-    fail_unless(msg->yaw_accuracy == 7, "incorrect value for yaw_accuracy, expected 7, is %d", msg->yaw_accuracy);
+    fail_unless((msg->yaw_accuracy*100 - 7.0*100) < 0.05, "incorrect value for yaw_accuracy, expected 7.0, is %f", msg->yaw_accuracy);
   }
 }
 END_TEST

c/test/auto_check_sbp_orientation_29.c

@@ -128,13 +128,13 @@ START_TEST( test_auto_check_sbp_orientation_29 )
     fail_unless(msg->flags == 1, "incorrect value for flags, expected 1, is %d", msg->flags);
     fail_unless(msg->tow == 0, "incorrect value for tow, expected 0, is %d", msg->tow);
     fail_unless(msg->w == 3, "incorrect value for w, expected 3, is %d", msg->w);
-    fail_unless(msg->w_accuracy == 3, "incorrect value for w_accuracy, expected 3, is %d", msg->w_accuracy);
+    fail_unless((msg->w_accuracy*100 - 3.0*100) < 0.05, "incorrect value for w_accuracy, expected 3.0, is %f", msg->w_accuracy);
     fail_unless(msg->x == 7, "incorrect value for x, expected 7, is %d", msg->x);
-    fail_unless(msg->x_accuracy == 4, "incorrect value for x_accuracy, expected 4, is %d", msg->x_accuracy);
+    fail_unless((msg->x_accuracy*100 - 4.0*100) < 0.05, "incorrect value for x_accuracy, expected 4.0, is %f", msg->x_accuracy);
     fail_unless(msg->y == 8, "incorrect value for y, expected 8, is %d", msg->y);
-    fail_unless(msg->y_accuracy == 8, "incorrect value for y_accuracy, expected 8, is %d", msg->y_accuracy);
+    fail_unless((msg->y_accuracy*100 - 8.0*100) < 0.05, "incorrect value for y_accuracy, expected 8.0, is %f", msg->y_accuracy);
     fail_unless(msg->z == 4, "incorrect value for z, expected 4, is %d", msg->z);
-    fail_unless(msg->z_accuracy == 3, "incorrect value for z_accuracy, expected 3, is %d", msg->z_accuracy);
+    fail_unless((msg->z_accuracy*100 - 3.0*100) < 0.05, "incorrect value for z_accuracy, expected 3.0, is %f", msg->z_accuracy);
   }
 }
 END_TEST

generator/sbpg/generator.py

@@ -55,6 +55,9 @@ def get_args():
   parser.add_argument('--rust',
                       action="store_true",
                       help='Target language: Rust.')
+  parser.add_argument('--test-rust',
+                      action="store_true",
+                      help='Target language: Rust tests.')
   parser.add_argument('--latex',
                       action="store_true",
                       help='Target language: LaTeX.')
@@ -81,7 +84,7 @@ def main():
     # Parse and validate arguments.
     args = get_args().parse_args()
     verbose = args.verbose
-    assert args.jsonschema or args.pythonNG or args.python or args.javascript or args.c or args.test_c or args.haskell or args.latex or args.protobuf or args.java or args.rust, \
+    assert args.jsonschema or args.pythonNG or args.python or args.javascript or args.c or args.test_c or args.haskell or args.latex or args.protobuf or args.java or args.rust or args.test_rust, \
         "Please specify a target language."
     input_file = os.path.abspath(args.input_file[0])
     assert len(args.input_file) == 1
@@ -92,7 +95,7 @@ def main():
     assert os.path.exists(output_dir), \
         "Invalid output directory: %s. Exiting!" % output_dir
     # Ingest, parse, and validate.
-    test_mode = args.test_c
+    test_mode = args.test_c or args.test_rust
 
     if test_mode:
       file_index = yaml.resolve_test_deps(*yaml.get_files(input_file))
@@ -146,6 +149,9 @@ def main():
         elif args.rust:
           import sbpg.targets.rust as rs
           rs.render_source(output_dir, parsed)
+        elif args.test_rust:
+          import sbpg.targets.test_rust as test_rs
+          test_rs.render_source(output_dir, parsed)
         elif args.protobuf:
           import sbpg.targets.protobuf as pb
           pb.render_source(output_dir, parsed)

generator/sbpg/targets/common.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+# Copyright (C) 2019 Swift Navigation Inc.
+# Contact: Swift Navigation <dev@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+def string_type(value):
+    return type(value) == str
+
+def array_type(value):
+    return type(value) == list
+
+def dict_type(value):
+    return type(value) == dict
+
+def float_type(value):
+    return type(value) == float
+
+def is_empty(value):
+    return len(value) == 0
+
+def to_str(value):
+    return str(value)
+

generator/sbpg/targets/resources/sbp_c_test.c.j2

@@ -88,13 +88,13 @@ START_TEST( test_(((s.suite_name))) )
   //
 
     ((*- macro compare_value(prefix, value) *))
-    ((*- if value is stringType *))
+    ((*- if value is string_type *))
     fail_unless(strstr(msg->(((prefix))), (((value|str_escape)))) != NULL, "incorrect value for msg->(((prefix))), expected string '%s', is '%s'", (((value|str_escape))), msg->(((prefix))));
-    ((*- elif value is arrayType *))
-    ((*- for ff in value *))((( compare_value( (((prefix))) + '[' + (((loop.index0|toStr))) + ']', (((ff))) ) )))((*- endfor *))
-    ((*- elif value is dictType *))
+    ((*- elif value is array_type *))
+    ((*- for ff in value *))((( compare_value( (((prefix))) + '[' + (((loop.index0|to_str))) + ']', (((ff))) ) )))((*- endfor *))
+    ((*- elif value is dict_type *))
     ((*- for k in (((value|sorted))) *))((( compare_value( (((prefix))) + '.' + (((k))), (((value[k]))) ) )))((*- endfor *))
-    ((*- elif value is floatType *))((=
+    ((*- elif value is float_type *))((=
         Note: the ("%.12g"|format(value)|float) filter is intended to keep float
         literal precision unchanged whether generated under Python 2.7 or 3.x. =))
     fail_unless((msg->(((prefix)))*100 - ((("%.12g"|format(value)|float)))*100) < 0.05, "incorrect value for (((prefix))), expected ((("%.12g"|format(value)|float))), is %f", msg->(((prefix))));

generator/sbpg/targets/resources/sbp_messages_mod.rs

@@ -20,7 +20,7 @@ use self::(((p.identifier|mod_name)))::(((m.identifier|camel_case)));
 ((*- endfor *))
 ((*- endfor *))
 
-trait SBPMessage {
+pub trait SBPMessage {
     const MSG_ID: u16;
 
     fn get_sender_id(&self) -> Option<u16>;