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Fix Primitive Array Access #48

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merged 2 commits into from
Jun 17, 2022
Merged

Fix Primitive Array Access #48

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d1e9f5e
Fix Primitive Array Access
liambenson Jun 16, 2022
9f58490
Add test
liambenson Jun 17, 2022
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2 changes: 1 addition & 1 deletion lib/ros_value.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,7 @@ const RosValue::Pointer RosValue::at(const size_t idx) const {
return RosValue::Pointer(
primitive_array_info_.element_type,
primitive_array_info_.message_buffer,
primitive_array_info_.offset + idx
primitive_array_info_.offset + idx * primitiveTypeToSize(primitive_array_info_.element_type)
);
} else {
throw std::runtime_error("Value is not an array or object");
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2 changes: 1 addition & 1 deletion python/adapters.h
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Expand Up @@ -252,7 +252,7 @@ py::object getField(Embag::RosValue::Pointer &v, const std::string field_name) {
}

py::object getIndex(Embag::RosValue::Pointer &v, const size_t index) {
if (v->getType() != Embag::RosValue::Type::array) {
if (v->getType() != Embag::RosValue::Type::array && v->getType() != Embag::RosValue::Type::primitive_array) {
throw std::runtime_error("Can only getIndex on an array");
}

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Binary file modified test/array_test.bag
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24 changes: 23 additions & 1 deletion test/embag_test.cc
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Expand Up @@ -286,6 +286,26 @@ TEST_F(ArraysTest, ArrayReading) {
ASSERT_EQ(static_bool_array[inner_index]->as<bool>(), index == inner_index);
}

// Tests a dynamically sized array of doubles
inner_index = 0;
const auto dynamic_uint64_array = message->data()["index_multiples_as_dynamic_uint64_array"];
for (auto item = dynamic_uint64_array->beginValues<Embag::RosValue::Pointer>(); item != dynamic_uint64_array->endValues<Embag::RosValue::Pointer>(); item++) {
ASSERT_EQ((*item)->as<uint64_t>(), (uint64_t) index * inner_index++);
}
for (inner_index = 0; inner_index < 20; inner_index++) {
ASSERT_EQ(dynamic_uint64_array[inner_index]->as<uint64_t>(), (uint64_t) index * inner_index);
}

// Tests a statically sized array of doubles
inner_index = 0;
const auto static_uint64_array = message->data()["index_multiples_as_static_uint64_array"];
for (auto item = static_uint64_array->beginValues<Embag::RosValue::Pointer>(); item != static_uint64_array->endValues<Embag::RosValue::Pointer>(); item++) {
ASSERT_EQ((*item)->as<uint64_t>(), (uint64_t) index * inner_index++);
}
for (inner_index = 0; inner_index < 20; inner_index++) {
ASSERT_EQ(static_uint64_array[inner_index]->as<uint64_t>(), (uint64_t) index * inner_index);
}

// Tests an array of strings
inner_index = 0;
const auto string_array = message->data()["index_as_string_array"];
Expand All @@ -296,7 +316,7 @@ TEST_F(ArraysTest, ArrayReading) {
ASSERT_EQ(string_array[inner_index]->as<std::string>(), index == inner_index ? "true" : "false");
}

// Tests an array of std/Bool objects
// Tests an array of std_msgs/Bool objects
inner_index = 0;
const auto bool_object_array = message->data()["index_as_bool_object_array"];
for (auto item = bool_object_array->beginValues<Embag::RosValue::Pointer>(); item != bool_object_array->endValues<Embag::RosValue::Pointer>(); item++) {
Expand All @@ -308,6 +328,8 @@ TEST_F(ArraysTest, ArrayReading) {

index++;
}

ASSERT_EQ(index, 20);
}

// TODO: test multi-bag message sorting