#![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 oxicode::{decode_from_slice, encode_to_vec, Decode, Encode};
use proptest::prelude::*;
#[derive(Debug, PartialEq, Clone, Encode, Decode)]
enum JointType {
Revolute,
Prismatic,
Fixed,
Continuous,
}
#[derive(Debug, PartialEq, Clone, Encode, Decode)]
struct JointState {
joint_type: JointType,
position: f64,
velocity: f64,
effort: f64,
}
#[derive(Debug, PartialEq, Clone, Encode, Decode)]
struct RobotPose {
x: f64,
y: f64,
z: f64,
roll: f64,
pitch: f64,
yaw: f64,
}
#[derive(Debug, PartialEq, Clone, Encode, Decode)]
struct Waypoint {
pose: RobotPose,
time_s: f64,
velocity_scale: f32,
}
#[derive(Debug, PartialEq, Clone, Encode, Decode)]
struct TrajectorySegment {
start: Waypoint,
end: Waypoint,
joints: Vec<JointState>,
}
fn joint_type_strategy() -> impl Strategy<Value = JointType> {
prop_oneof![
Just(JointType::Revolute),
Just(JointType::Prismatic),
Just(JointType::Fixed),
Just(JointType::Continuous),
]
}
fn joint_state_strategy() -> impl Strategy<Value = JointState> {
(
joint_type_strategy(),
any::<f64>(),
any::<f64>(),
any::<f64>(),
)
.prop_map(|(joint_type, position, velocity, effort)| JointState {
joint_type,
position,
velocity,
effort,
})
}
fn robot_pose_strategy() -> impl Strategy<Value = RobotPose> {
(
any::<f64>(),
any::<f64>(),
any::<f64>(),
any::<f64>(),
any::<f64>(),
any::<f64>(),
)
.prop_map(|(x, y, z, roll, pitch, yaw)| RobotPose {
x,
y,
z,
roll,
pitch,
yaw,
})
}
fn waypoint_strategy() -> impl Strategy<Value = Waypoint> {
(robot_pose_strategy(), any::<f64>(), any::<f32>()).prop_map(
|(pose, time_s, velocity_scale)| Waypoint {
pose,
time_s,
velocity_scale,
},
)
}
fn trajectory_segment_strategy() -> impl Strategy<Value = TrajectorySegment> {
(
waypoint_strategy(),
waypoint_strategy(),
prop::collection::vec(joint_state_strategy(), 0..8usize),
)
.prop_map(|(start, end, joints)| TrajectorySegment { start, end, joints })
}
#[test]
fn test_joint_type_roundtrip() {
proptest!(|(jt in joint_type_strategy())| {
let enc = encode_to_vec(&jt).expect("encode JointType failed");
let (decoded, consumed): (JointType, usize) =
decode_from_slice(&enc).expect("decode JointType failed");
prop_assert_eq!(jt, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_joint_type_consumed_eq_len() {
proptest!(|(jt in joint_type_strategy())| {
let enc = encode_to_vec(&jt).expect("encode JointType failed");
let (_decoded, consumed): (JointType, usize) =
decode_from_slice(&enc).expect("decode JointType failed");
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_joint_type_deterministic_encoding() {
proptest!(|(jt in joint_type_strategy())| {
let enc1 = encode_to_vec(&jt).expect("first encode JointType failed");
let enc2 = encode_to_vec(&jt).expect("second encode JointType failed");
prop_assert_eq!(enc1, enc2, "JointType encoding must be deterministic");
});
}
#[test]
fn test_all_joint_type_variants_roundtrip() {
let variants = [
JointType::Revolute,
JointType::Prismatic,
JointType::Fixed,
JointType::Continuous,
];
for jt in &variants {
let enc = encode_to_vec(jt).expect("encode JointType variant failed");
let (decoded, consumed): (JointType, usize) =
decode_from_slice(&enc).expect("decode JointType variant failed");
assert_eq!(jt, &decoded, "JointType variant mismatch");
assert_eq!(consumed, enc.len(), "JointType consumed bytes mismatch");
}
proptest!(|(_dummy: u8)| {
prop_assert!(true);
});
}
#[test]
fn test_joint_state_roundtrip() {
proptest!(|(js in joint_state_strategy())| {
let enc = encode_to_vec(&js).expect("encode JointState failed");
let (decoded, consumed): (JointState, usize) =
decode_from_slice(&enc).expect("decode JointState failed");
prop_assert_eq!(js, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_joint_state_reencode_idempotent() {
proptest!(|(js in joint_state_strategy())| {
let enc1 = encode_to_vec(&js).expect("first encode JointState failed");
let (decoded, _): (JointState, usize) =
decode_from_slice(&enc1).expect("decode JointState failed");
let enc2 = encode_to_vec(&decoded).expect("re-encode JointState failed");
prop_assert_eq!(enc1, enc2, "JointState re-encoding must be idempotent");
});
}
#[test]
fn test_joint_state_zero_position_roundtrip() {
proptest!(|(
jt in joint_type_strategy(),
velocity: f64,
effort: f64,
)| {
let js = JointState { joint_type: jt, position: 0.0, velocity, effort };
let enc = encode_to_vec(&js).expect("encode zero-position JointState failed");
let (decoded, consumed): (JointState, usize) =
decode_from_slice(&enc).expect("decode zero-position JointState failed");
prop_assert_eq!(js, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_vec_joint_state_roundtrip() {
proptest!(|(joints in prop::collection::vec(joint_state_strategy(), 0..12usize))| {
let enc = encode_to_vec(&joints).expect("encode Vec<JointState> failed");
let (decoded, consumed): (Vec<JointState>, usize) =
decode_from_slice(&enc).expect("decode Vec<JointState> failed");
prop_assert_eq!(joints, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_robot_pose_roundtrip() {
proptest!(|(pose in robot_pose_strategy())| {
let enc = encode_to_vec(&pose).expect("encode RobotPose failed");
let (decoded, consumed): (RobotPose, usize) =
decode_from_slice(&enc).expect("decode RobotPose failed");
prop_assert_eq!(pose, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_robot_pose_deterministic_encoding() {
proptest!(|(pose in robot_pose_strategy())| {
let enc1 = encode_to_vec(&pose).expect("first encode RobotPose failed");
let enc2 = encode_to_vec(&pose).expect("second encode RobotPose failed");
prop_assert_eq!(enc1, enc2, "RobotPose encoding must be deterministic");
});
}
#[test]
fn test_robot_pose_origin_roundtrip() {
proptest!(|(_dummy: u8)| {
let pose = RobotPose { x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0 };
let enc = encode_to_vec(&pose).expect("encode origin RobotPose failed");
let (decoded, consumed): (RobotPose, usize) =
decode_from_slice(&enc).expect("decode origin RobotPose failed");
prop_assert_eq!(pose, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_robot_pose_reencode_idempotent() {
proptest!(|(pose in robot_pose_strategy())| {
let enc1 = encode_to_vec(&pose).expect("first encode RobotPose failed");
let (decoded, _): (RobotPose, usize) =
decode_from_slice(&enc1).expect("decode RobotPose failed");
let enc2 = encode_to_vec(&decoded).expect("re-encode RobotPose failed");
prop_assert_eq!(enc1, enc2, "RobotPose re-encoding must be idempotent");
});
}
#[test]
fn test_waypoint_roundtrip() {
proptest!(|(wp in waypoint_strategy())| {
let enc = encode_to_vec(&wp).expect("encode Waypoint failed");
let (decoded, consumed): (Waypoint, usize) =
decode_from_slice(&enc).expect("decode Waypoint failed");
prop_assert_eq!(wp, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_waypoint_zero_time_roundtrip() {
proptest!(|(
pose in robot_pose_strategy(),
velocity_scale: f32,
)| {
let wp = Waypoint { pose, time_s: 0.0, velocity_scale };
let enc = encode_to_vec(&wp).expect("encode zero-time Waypoint failed");
let (decoded, consumed): (Waypoint, usize) =
decode_from_slice(&enc).expect("decode zero-time Waypoint failed");
prop_assert_eq!(wp, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_waypoint_reencode_idempotent() {
proptest!(|(wp in waypoint_strategy())| {
let enc1 = encode_to_vec(&wp).expect("first encode Waypoint failed");
let (decoded, _): (Waypoint, usize) =
decode_from_slice(&enc1).expect("decode Waypoint failed");
let enc2 = encode_to_vec(&decoded).expect("re-encode Waypoint failed");
prop_assert_eq!(enc1, enc2, "Waypoint re-encoding must be idempotent");
});
}
#[test]
fn test_vec_waypoint_roundtrip() {
proptest!(|(wps in prop::collection::vec(waypoint_strategy(), 0..10usize))| {
let enc = encode_to_vec(&wps).expect("encode Vec<Waypoint> failed");
let (decoded, consumed): (Vec<Waypoint>, usize) =
decode_from_slice(&enc).expect("decode Vec<Waypoint> failed");
prop_assert_eq!(wps, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_trajectory_segment_roundtrip() {
proptest!(|(seg in trajectory_segment_strategy())| {
let enc = encode_to_vec(&seg).expect("encode TrajectorySegment failed");
let (decoded, consumed): (TrajectorySegment, usize) =
decode_from_slice(&enc).expect("decode TrajectorySegment failed");
prop_assert_eq!(seg, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_trajectory_segment_empty_joints_roundtrip() {
proptest!(|(
start in waypoint_strategy(),
end in waypoint_strategy(),
)| {
let seg = TrajectorySegment { start, end, joints: vec![] };
let enc = encode_to_vec(&seg).expect("encode empty-joints TrajectorySegment failed");
let (decoded, consumed): (TrajectorySegment, usize) =
decode_from_slice(&enc).expect("decode empty-joints TrajectorySegment failed");
prop_assert_eq!(seg, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_trajectory_segment_joint_count_preserved() {
proptest!(|(seg in trajectory_segment_strategy())| {
let original_count = seg.joints.len();
let enc = encode_to_vec(&seg).expect("encode TrajectorySegment failed");
let (decoded, _): (TrajectorySegment, usize) =
decode_from_slice(&enc).expect("decode TrajectorySegment failed");
prop_assert_eq!(decoded.joints.len(), original_count,
"joint count must survive encode/decode");
});
}
#[test]
fn test_trajectory_segment_reencode_idempotent() {
proptest!(|(seg in trajectory_segment_strategy())| {
let enc1 = encode_to_vec(&seg).expect("first encode TrajectorySegment failed");
let (decoded, _): (TrajectorySegment, usize) =
decode_from_slice(&enc1).expect("decode TrajectorySegment failed");
let enc2 = encode_to_vec(&decoded).expect("re-encode TrajectorySegment failed");
prop_assert_eq!(enc1, enc2, "TrajectorySegment re-encoding must be idempotent");
});
}
#[test]
fn test_vec_trajectory_segment_roundtrip() {
proptest!(|(segs in prop::collection::vec(trajectory_segment_strategy(), 0..5usize))| {
let enc = encode_to_vec(&segs).expect("encode Vec<TrajectorySegment> failed");
let (decoded, consumed): (Vec<TrajectorySegment>, usize) =
decode_from_slice(&enc).expect("decode Vec<TrajectorySegment> failed");
prop_assert_eq!(segs, decoded);
prop_assert_eq!(consumed, enc.len());
});
}
#[test]
fn test_trajectory_segment_encoding_grows_with_joints() {
proptest!(|(
start in waypoint_strategy(),
end in waypoint_strategy(),
base_joint in joint_state_strategy(),
extra_joint in joint_state_strategy(),
)| {
let seg_fewer = TrajectorySegment {
start: start.clone(),
end: end.clone(),
joints: vec![base_joint.clone()],
};
let seg_more = TrajectorySegment {
start,
end,
joints: vec![base_joint, extra_joint],
};
let enc_fewer = encode_to_vec(&seg_fewer).expect("encode fewer-joints segment failed");
let enc_more = encode_to_vec(&seg_more).expect("encode more-joints segment failed");
prop_assert!(
enc_more.len() >= enc_fewer.len(),
"more joints should produce >= encoded bytes"
);
});
}