#![cfg(feature = "serde")]
#![allow(
clippy::approx_constant,
clippy::useless_vec,
clippy::len_zero,
clippy::unnecessary_cast,
clippy::redundant_closure,
clippy::too_many_arguments,
clippy::type_complexity,
clippy::needless_borrow,
clippy::enum_variant_names,
clippy::upper_case_acronyms,
clippy::inconsistent_digit_grouping,
clippy::unit_cmp,
clippy::assertions_on_constants,
clippy::iter_on_single_items,
clippy::expect_fun_call,
clippy::redundant_pattern_matching,
variant_size_differences,
clippy::absurd_extreme_comparisons,
clippy::nonminimal_bool,
clippy::for_kv_map,
clippy::needless_range_loop,
clippy::single_match,
clippy::collapsible_if,
clippy::needless_return,
clippy::redundant_clone,
clippy::map_entry,
clippy::match_single_binding,
clippy::bool_comparison,
clippy::derivable_impls,
clippy::manual_range_contains,
clippy::needless_borrows_for_generic_args,
clippy::manual_map,
clippy::vec_init_then_push,
clippy::identity_op,
clippy::manual_flatten,
clippy::single_char_pattern,
clippy::search_is_some,
clippy::option_map_unit_fn,
clippy::while_let_on_iterator,
clippy::clone_on_copy,
clippy::box_collection,
clippy::redundant_field_names,
clippy::ptr_arg,
clippy::large_enum_variant,
clippy::match_ref_pats,
clippy::needless_pass_by_value,
clippy::unused_unit,
clippy::let_and_return,
clippy::suspicious_else_formatting,
clippy::manual_strip,
clippy::match_like_matches_macro,
clippy::from_over_into,
clippy::wrong_self_convention,
clippy::inherent_to_string,
clippy::new_without_default,
clippy::unnecessary_wraps,
clippy::field_reassign_with_default,
clippy::manual_find,
clippy::unnecessary_lazy_evaluations,
clippy::should_implement_trait,
clippy::missing_safety_doc,
clippy::unusual_byte_groupings,
clippy::bool_assert_comparison,
clippy::zero_prefixed_literal,
clippy::await_holding_lock,
clippy::manual_saturating_arithmetic,
clippy::explicit_counter_loop,
clippy::needless_lifetimes,
clippy::single_component_path_imports,
clippy::uninlined_format_args,
clippy::iter_cloned_collect,
clippy::manual_str_repeat,
clippy::excessive_precision,
clippy::precedence,
clippy::unnecessary_literal_unwrap
)]
use ::serde::{Deserialize, Serialize};
use oxicode::config;
use oxicode::serde::{decode_owned_from_slice, encode_to_vec};
#[derive(Debug, PartialEq, Clone, Serialize, Deserialize)]
enum SensorType {
Lidar,
Radar,
Camera,
Ultrasonic,
Gps,
}
#[derive(Debug, PartialEq, Clone, Serialize, Deserialize)]
enum ObstacleClass {
Pedestrian,
Vehicle,
Cyclist,
StaticObject,
Unknown,
}
#[derive(Debug, PartialEq, Clone, Serialize, Deserialize)]
struct SensorReading {
sensor_id: u32,
sensor_type: SensorType,
timestamp_us: u64,
range_cm: u32,
confidence_pct: u8,
}
#[derive(Debug, PartialEq, Clone, Serialize, Deserialize)]
struct Obstacle {
obstacle_id: u32,
class: ObstacleClass,
x_cm: i32,
y_cm: i32,
velocity_cms: i32,
width_cm: u32,
height_cm: u32,
}
#[derive(Debug, PartialEq, Clone, Serialize, Deserialize)]
struct WaypointNav {
x_cm: i64,
y_cm: i64,
speed_cms: u32,
heading_mdeg: u32,
}
#[derive(Debug, PartialEq, Clone, Serialize, Deserialize)]
struct VehicleState {
vehicle_id: u64,
speed_cms: i32,
heading_mdeg: u32,
x_cm: i64,
y_cm: i64,
obstacles: Vec<Obstacle>,
path: Vec<WaypointNav>,
}
#[test]
fn test_sensor_type_lidar() {
let cfg = config::standard();
let val = SensorType::Lidar;
let bytes = encode_to_vec(&val, cfg).expect("encode SensorType::Lidar");
let (decoded, _): (SensorType, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode SensorType::Lidar");
assert_eq!(val, decoded);
}
#[test]
fn test_sensor_type_radar() {
let cfg = config::standard();
let val = SensorType::Radar;
let bytes = encode_to_vec(&val, cfg).expect("encode SensorType::Radar");
let (decoded, _): (SensorType, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode SensorType::Radar");
assert_eq!(val, decoded);
}
#[test]
fn test_sensor_type_camera() {
let cfg = config::standard();
let val = SensorType::Camera;
let bytes = encode_to_vec(&val, cfg).expect("encode SensorType::Camera");
let (decoded, _): (SensorType, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode SensorType::Camera");
assert_eq!(val, decoded);
}
#[test]
fn test_sensor_type_ultrasonic() {
let cfg = config::standard();
let val = SensorType::Ultrasonic;
let bytes = encode_to_vec(&val, cfg).expect("encode SensorType::Ultrasonic");
let (decoded, _): (SensorType, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode SensorType::Ultrasonic");
assert_eq!(val, decoded);
}
#[test]
fn test_sensor_type_gps() {
let cfg = config::standard();
let val = SensorType::Gps;
let bytes = encode_to_vec(&val, cfg).expect("encode SensorType::Gps");
let (decoded, _): (SensorType, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode SensorType::Gps");
assert_eq!(val, decoded);
}
#[test]
fn test_obstacle_class_pedestrian() {
let cfg = config::standard();
let val = ObstacleClass::Pedestrian;
let bytes = encode_to_vec(&val, cfg).expect("encode ObstacleClass::Pedestrian");
let (decoded, _): (ObstacleClass, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode ObstacleClass::Pedestrian");
assert_eq!(val, decoded);
}
#[test]
fn test_obstacle_class_vehicle() {
let cfg = config::standard();
let val = ObstacleClass::Vehicle;
let bytes = encode_to_vec(&val, cfg).expect("encode ObstacleClass::Vehicle");
let (decoded, _): (ObstacleClass, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode ObstacleClass::Vehicle");
assert_eq!(val, decoded);
}
#[test]
fn test_obstacle_class_cyclist() {
let cfg = config::standard();
let val = ObstacleClass::Cyclist;
let bytes = encode_to_vec(&val, cfg).expect("encode ObstacleClass::Cyclist");
let (decoded, _): (ObstacleClass, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode ObstacleClass::Cyclist");
assert_eq!(val, decoded);
}
#[test]
fn test_obstacle_class_static_object() {
let cfg = config::standard();
let val = ObstacleClass::StaticObject;
let bytes = encode_to_vec(&val, cfg).expect("encode ObstacleClass::StaticObject");
let (decoded, _): (ObstacleClass, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode ObstacleClass::StaticObject");
assert_eq!(val, decoded);
}
#[test]
fn test_obstacle_class_unknown() {
let cfg = config::standard();
let val = ObstacleClass::Unknown;
let bytes = encode_to_vec(&val, cfg).expect("encode ObstacleClass::Unknown");
let (decoded, _): (ObstacleClass, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode ObstacleClass::Unknown");
assert_eq!(val, decoded);
}
#[test]
fn test_sensor_reading_roundtrip_standard() {
let cfg = config::standard();
let val = SensorReading {
sensor_id: 42,
sensor_type: SensorType::Lidar,
timestamp_us: 1_700_000_000_000_u64,
range_cm: 5000,
confidence_pct: 95,
};
let bytes = encode_to_vec(&val, cfg).expect("encode SensorReading");
let (decoded, _): (SensorReading, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode SensorReading");
assert_eq!(val, decoded);
}
#[test]
fn test_obstacle_roundtrip() {
let cfg = config::standard();
let val = Obstacle {
obstacle_id: 7,
class: ObstacleClass::Pedestrian,
x_cm: -300,
y_cm: 1500,
velocity_cms: -50,
width_cm: 60,
height_cm: 170,
};
let bytes = encode_to_vec(&val, cfg).expect("encode Obstacle");
let (decoded, _): (Obstacle, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode Obstacle");
assert_eq!(val, decoded);
}
#[test]
fn test_waypoint_nav_roundtrip() {
let cfg = config::standard();
let val = WaypointNav {
x_cm: 100_000_i64,
y_cm: -50_000_i64,
speed_cms: 1388,
heading_mdeg: 90_000,
};
let bytes = encode_to_vec(&val, cfg).expect("encode WaypointNav");
let (decoded, consumed): (WaypointNav, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode WaypointNav");
assert_eq!(val, decoded);
assert_eq!(
consumed,
bytes.len(),
"consumed bytes should equal total encoded length"
);
}
#[test]
fn test_vehicle_state_empty_obstacles_and_path() {
let cfg = config::standard();
let val = VehicleState {
vehicle_id: 1001,
speed_cms: 0,
heading_mdeg: 0,
x_cm: 0,
y_cm: 0,
obstacles: vec![],
path: vec![],
};
let bytes = encode_to_vec(&val, cfg).expect("encode VehicleState empty");
let (decoded, _): (VehicleState, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode VehicleState empty");
assert_eq!(val, decoded);
}
#[test]
fn test_vehicle_state_multiple_obstacles() {
let cfg = config::standard();
let obstacles = vec![
Obstacle {
obstacle_id: 1,
class: ObstacleClass::Vehicle,
x_cm: 500,
y_cm: 200,
velocity_cms: 100,
width_cm: 200,
height_cm: 150,
},
Obstacle {
obstacle_id: 2,
class: ObstacleClass::Pedestrian,
x_cm: -100,
y_cm: 300,
velocity_cms: 10,
width_cm: 60,
height_cm: 170,
},
Obstacle {
obstacle_id: 3,
class: ObstacleClass::Cyclist,
x_cm: 800,
y_cm: -100,
velocity_cms: 40,
width_cm: 80,
height_cm: 180,
},
];
let val = VehicleState {
vehicle_id: 2002,
speed_cms: 1000,
heading_mdeg: 45_000,
x_cm: 10_000,
y_cm: 20_000,
obstacles,
path: vec![],
};
let bytes = encode_to_vec(&val, cfg).expect("encode VehicleState multiple obstacles");
let (decoded, _): (VehicleState, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode VehicleState multiple obstacles");
assert_eq!(val, decoded);
}
#[test]
fn test_vehicle_state_long_path_10_waypoints() {
let cfg = config::standard();
let path: Vec<WaypointNav> = (0..10)
.map(|i| WaypointNav {
x_cm: i as i64 * 5000,
y_cm: i as i64 * 2000,
speed_cms: 800 + i as u32 * 50,
heading_mdeg: (i as u32 * 18_000) % 360_000,
})
.collect();
let val = VehicleState {
vehicle_id: 3003,
speed_cms: 800,
heading_mdeg: 0,
x_cm: 0,
y_cm: 0,
obstacles: vec![],
path,
};
let bytes = encode_to_vec(&val, cfg).expect("encode VehicleState 10 waypoints");
let (decoded, _): (VehicleState, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode VehicleState 10 waypoints");
assert_eq!(val, decoded);
}
#[test]
fn test_vec_sensor_reading_roundtrip() {
let cfg = config::standard();
let val = vec![
SensorReading {
sensor_id: 1,
sensor_type: SensorType::Lidar,
timestamp_us: 1_000_000,
range_cm: 3000,
confidence_pct: 90,
},
SensorReading {
sensor_id: 2,
sensor_type: SensorType::Radar,
timestamp_us: 1_000_050,
range_cm: 12000,
confidence_pct: 75,
},
SensorReading {
sensor_id: 3,
sensor_type: SensorType::Camera,
timestamp_us: 1_000_033,
range_cm: 800,
confidence_pct: 85,
},
SensorReading {
sensor_id: 4,
sensor_type: SensorType::Ultrasonic,
timestamp_us: 1_000_010,
range_cm: 50,
confidence_pct: 99,
},
SensorReading {
sensor_id: 5,
sensor_type: SensorType::Gps,
timestamp_us: 1_000_000,
range_cm: 0,
confidence_pct: 70,
},
];
let bytes = encode_to_vec(&val, cfg).expect("encode Vec<SensorReading>");
let (decoded, _): (Vec<SensorReading>, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode Vec<SensorReading>");
assert_eq!(val, decoded);
}
#[test]
fn test_big_endian_config() {
let cfg = config::standard().with_big_endian();
let val = SensorReading {
sensor_id: 99,
sensor_type: SensorType::Radar,
timestamp_us: 9_999_999_999_u64,
range_cm: 25000,
confidence_pct: 60,
};
let bytes = encode_to_vec(&val, cfg).expect("encode big_endian SensorReading");
let (decoded, _): (SensorReading, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode big_endian SensorReading");
assert_eq!(val, decoded);
}
#[test]
fn test_fixed_int_config() {
let cfg = config::standard().with_fixed_int_encoding();
let val = Obstacle {
obstacle_id: 55,
class: ObstacleClass::Cyclist,
x_cm: i32::MAX,
y_cm: i32::MIN,
velocity_cms: -1000,
width_cm: u32::MAX,
height_cm: 200,
};
let bytes = encode_to_vec(&val, cfg).expect("encode fixed_int Obstacle");
let (decoded, _): (Obstacle, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode fixed_int Obstacle");
assert_eq!(val, decoded);
}
#[test]
fn test_big_endian_fixed_int_combined() {
let cfg = config::standard()
.with_big_endian()
.with_fixed_int_encoding();
let val = VehicleState {
vehicle_id: u64::MAX,
speed_cms: -5000,
heading_mdeg: 359_999,
x_cm: i64::MAX / 2,
y_cm: i64::MIN / 2,
obstacles: vec![Obstacle {
obstacle_id: 1,
class: ObstacleClass::Vehicle,
x_cm: 300,
y_cm: 400,
velocity_cms: 500,
width_cm: 200,
height_cm: 150,
}],
path: vec![WaypointNav {
x_cm: 100_000,
y_cm: 200_000,
speed_cms: 1000,
heading_mdeg: 180_000,
}],
};
let bytes = encode_to_vec(&val, cfg).expect("encode big_endian+fixed_int VehicleState");
let (decoded, _): (VehicleState, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode big_endian+fixed_int VehicleState");
assert_eq!(val, decoded);
}
#[test]
fn test_large_obstacle_count_20() {
let cfg = config::standard();
let classes = [
ObstacleClass::Pedestrian,
ObstacleClass::Vehicle,
ObstacleClass::Cyclist,
ObstacleClass::StaticObject,
ObstacleClass::Unknown,
];
let obstacles: Vec<Obstacle> = (0..20)
.map(|i| Obstacle {
obstacle_id: i as u32,
class: classes[i % 5].clone(),
x_cm: (i as i32 - 10) * 200,
y_cm: (i as i32) * 150,
velocity_cms: (i as i32 % 5) * 100 - 200,
width_cm: 50 + i as u32 * 10,
height_cm: 100 + i as u32 * 5,
})
.collect();
let val = VehicleState {
vehicle_id: 4004,
speed_cms: 1388,
heading_mdeg: 30_000,
x_cm: 500_000,
y_cm: 750_000,
obstacles,
path: vec![],
};
let bytes = encode_to_vec(&val, cfg).expect("encode VehicleState 20 obstacles");
let (decoded, _): (VehicleState, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode VehicleState 20 obstacles");
assert_eq!(val.obstacles.len(), 20);
assert_eq!(val, decoded);
}
#[test]
fn test_path_planning_15_waypoints() {
let cfg = config::standard();
let path: Vec<WaypointNav> = (0..15)
.map(|i| WaypointNav {
x_cm: (i as i64) * 10_000 - 70_000,
y_cm: (i as i64 * i as i64) * 500,
speed_cms: 500 + (i as u32 % 5) * 200,
heading_mdeg: (i as u32 * 24_000) % 360_000,
})
.collect();
let val = VehicleState {
vehicle_id: 5005,
speed_cms: 500,
heading_mdeg: 0,
x_cm: -70_000,
y_cm: 0,
obstacles: vec![Obstacle {
obstacle_id: 100,
class: ObstacleClass::StaticObject,
x_cm: 20_000,
y_cm: 30_000,
velocity_cms: 0,
width_cm: 500,
height_cm: 300,
}],
path,
};
let bytes = encode_to_vec(&val, cfg).expect("encode VehicleState 15 waypoints");
let (decoded, _): (VehicleState, usize) =
decode_owned_from_slice(&bytes, cfg).expect("decode VehicleState 15 waypoints");
assert_eq!(val.path.len(), 15);
assert_eq!(val, decoded);
}