Merge pull request #29 from tkoolen/tk/fix-28

Fix #28

Author: rdeits

src/lcmtype.jl

@@ -175,14 +175,24 @@ end
 end
 
 @inline resizevec!(vec::SVector, x::LCMType, dim::LCMDimension{Int}) = nothing
-@inline resizevec!(vec::Vector, x::LCMType, dim::LCMDimension{Symbol}) = (resize!(vec, getfield(x, dim.size)); nothing)
+@inline resizevec!(vec::Vector, x::LCMType, dim::LCMDimension{Symbol}) = (_resizevec!(vec, getfield(x, dim.size)); nothing)
 @inline function resizevec!(vec::AbstractVector, x::LCMType, dimhead::LCMDimension, dimtail::LCMDimension...)
     resizevec!(vec, x, dimhead)
     for vi in vec
         resizevec!(vi, x, dimtail...)
     end
 end
 
+@inline function _resizevec!(vec::Vector{T}, newsize::Integer) where T
+    # Note: separated from resizevec! to introduce a function barrier and
+    # achieve zero allocation despite the type-unstable `getfield` call.
+    oldsize = length(vec)
+    resize!(vec, newsize)
+    for i in oldsize + 1 : newsize
+        @inbounds vec[i] = defaultval(T)
+    end
+end
+
 # checkvalid
 """
     checkvalid(x::LCMType)

test/lcmtypes/lcmtesttypes.jl

@@ -1,6 +1,6 @@
 module lcmtesttypes
 
-export lcm_test_type_1, lcm_test_type_2, lcm_test_type_3
+export lcm_test_type_1, lcm_test_type_2, lcm_test_type_3, polynomial_t, polynomial_matrix_t
 export hard_coded_example
 
 using LCMCore, StaticArrays
@@ -133,4 +133,66 @@ function hard_coded_example(::Type{lcm_test_type_3})
     ret
 end
 
+mutable struct polynomial_t <: LCMType
+    timestamp::Int64
+    num_coefficients::Int32
+    coefficients::Vector{Float64}
+end
+
+@lcmtypesetup(polynomial_t,
+    (coefficients, 1) => num_coefficients,
+)
+
+function Base.:(==)(x::polynomial_t, y::polynomial_t)
+    x.timestamp == y.timestamp || return false
+    x.num_coefficients == y.num_coefficients || return false
+    x.coefficients == y.coefficients || return false
+    true
+end
+
+function Base.rand(::Type{polynomial_t})
+    timestamp = rand(Int64)
+    num_coefficients = rand(Int32(0) : Int32(10))
+    coefficients = rand(num_coefficients)
+    polynomial_t(timestamp, num_coefficients, coefficients)
+end
+
+function hard_coded_example(::Type{polynomial_t})
+    polynomial_t(1234, 4, [5.0, 0.0, 1.0, 3.0])
+end
+
+
+mutable struct polynomial_matrix_t <: LCMType
+    timestamp::Int64
+    rows::Int32
+    cols::Int32
+    polynomials::Vector{Vector{polynomial_t}}
+end
+
+@lcmtypesetup(polynomial_matrix_t,
+    (polynomials, 1) => rows,
+    (polynomials, 2) => cols
+)
+
+function Base.:(==)(x::polynomial_matrix_t, y::polynomial_matrix_t)
+    x.timestamp == y.timestamp || return false
+    x.rows == y.rows || return false
+    x.cols == y.cols || return false
+    x.polynomials == y.polynomials || return false
+    true
+end
+
+function Base.rand(::Type{polynomial_matrix_t})
+    timestamp = rand(Int64)
+    rows = rand(Int32(0) : Int32(10))
+    cols = rand(Int32(0) : Int32(10))
+    polynomials = [[rand(polynomial_t) for col = 1 : cols] for row = 1 : rows]
+    polynomial_matrix_t(timestamp, rows, cols, polynomials)
+end
+
+function hard_coded_example(::Type{polynomial_matrix_t})
+    polynomials = [[polynomial_t(1234, 4, [5.0, 0.0, 1.0, 3.0])], [polynomial_t(1234, 4, [10.0, 0.0, 2.0, 6.0])]]
+    polynomial_matrix_t(1234, 2, 1, polynomials)
+end
+
 end # module

test/lcmtypes/polynomial_matrix_t_example_bytes

@@ -38,10 +38,14 @@ end
     test_encode_decode(lcm_test_type_1)
     test_encode_decode(lcm_test_type_2)
     test_encode_decode(lcm_test_type_3)
+    test_encode_decode(polynomial_t)
+    test_encode_decode(polynomial_matrix_t)
 
     # Check that decoding types without `String`s doesn't allocate
     test_in_place_decode_noalloc(lcm_test_type_1)
     test_in_place_decode_noalloc(lcm_test_type_2)
+    test_in_place_decode_noalloc(polynomial_t)
+    test_in_place_decode_noalloc(polynomial_matrix_t)
 
     # Mismatch between length field and length of corresponding vector
     bad = rand(lcm_test_type_1)
@@ -55,10 +59,8 @@ end
     @test_throws LCMCore.FingerprintException decode(badbytes, lcm_test_type_1)
 
     # Test against byte blobs that were encoded using pylcm
-    bytes = read(Pkg.dir("LCMCore", "test", "lcmtypes", "lcm_test_type_1_example_bytes"))
-    @test hard_coded_example(lcm_test_type_1) == decode(bytes, lcm_test_type_1)
-    bytes = read(Pkg.dir("LCMCore", "test", "lcmtypes", "lcm_test_type_2_example_bytes"))
-    @test hard_coded_example(lcm_test_type_2) == decode(bytes, lcm_test_type_2)
-    bytes = read(Pkg.dir("LCMCore", "test", "lcmtypes", "lcm_test_type_3_example_bytes"))
-    @test hard_coded_example(lcm_test_type_3) == decode(bytes, lcm_test_type_3)
+    for lcmt in [lcm_test_type_1, lcm_test_type_2, lcm_test_type_3, polynomial_t, polynomial_matrix_t]
+        bytes = read(Pkg.dir("LCMCore", "test", "lcmtypes", string(lcmt.name.name) * "_example_bytes"))
+        @test hard_coded_example(lcmt) == decode(bytes, lcmt)
+    end
 end