Fix serialisation and add unit tests for it

src/id.hpp

@@ -27,9 +27,7 @@
 
 namespace NUClear {
 
-/**
- * @brief A unique identifier for a thread pool
- */
+/// @brief This type is used when NUClear requires a unique identifier
 using id_t = std::size_t;
 
 }  // namespace NUClear

src/util/serialise/Serialise.hpp

@@ -46,22 +46,21 @@ namespace util {
         template <typename T, typename Check = T>
         struct Serialise;
 
-        // Plain old data
+        // Trivially copyable data
         template <typename T>
-        struct Serialise<T, std::enable_if_t<std::is_trivial<T>::value, T>> {
+        struct Serialise<T, std::enable_if_t<std::is_trivially_copyable<T>::value, T>> {
 
             static inline std::vector<char> serialise(const T& in) {
-
-                // Copy the bytes into an array
-                const auto* dataptr = reinterpret_cast<const char*>(&in);
-                return {dataptr, dataptr + sizeof(T)};
+                std::vector<char> out(sizeof(T));
+                std::memcpy(out.data(), &in, sizeof(T));
+                return out;
             }
 
             static inline T deserialise(const std::vector<char>& in) {
-
-                // Copy the data into an object of the correct type
-                T ret = *reinterpret_cast<T*>(in.data());
-                return ret;
+                if (in.size() != sizeof(T)) {
+                    throw std::length_error("Serialised data is not the correct size");
+                }
+                return *reinterpret_cast<const T*>(in.data());
             }
 
             static inline uint64_t hash() {
@@ -72,22 +71,20 @@ namespace util {
             }
         };
 
-        // Iterable of pod
+        // Iterable of trivially copyable data
+        template <typename T>
+        using iterator_value_type_t =
+            typename std::iterator_traits<decltype(std::begin(std::declval<T>()))>::value_type;
         template <typename T>
-        struct Serialise<
-            T,
-            std::enable_if_t<
-                std::is_same<typename std::iterator_traits<decltype(std::declval<T>().begin())>::iterator_category,
-                             std::random_access_iterator_tag>::value,
-                T>> {
+        struct Serialise<T, std::enable_if_t<std::is_trivially_copyable<iterator_value_type_t<T>>::value, T>> {
 
-            using StoredType = std::remove_reference_t<decltype(*std::declval<T>().begin())>;
+            using V = std::remove_reference_t<iterator_value_type_t<T>>;
 
             static inline std::vector<char> serialise(const T& in) {
                 std::vector<char> out;
-                out.reserve(std::size_t(std::distance(in.begin(), in.end())));
+                out.reserve(sizeof(V) * size_t(std::distance(std::begin(in), std::end(in))));
 
-                for (const StoredType& item : in) {
+                for (const V& item : in) {
                     const char* i = reinterpret_cast<const char*>(&item);
                     out.insert(out.end(), i, i + sizeof(decltype(item)));
                 }
@@ -99,9 +96,9 @@ namespace util {
 
                 T out;
 
-                const auto* data = reinterpret_cast<const StoredType*>(in.data());
+                const auto* data = reinterpret_cast<const V*>(in.data());
 
-                out.insert(out.end(), data, data + (in.size() / sizeof(StoredType)));
+                out.insert(out.end(), data, data + (in.size() / sizeof(V)));
 
                 return out;
             }

tests/util/serialise/serialise.cpp

@@ -0,0 +1,311 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2015 NUClear Contributors
+ *
+ * This file is part of the NUClear codebase.
+ * See https://github.com/Fastcode/NUClear for further info.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
+ * documentation files (the "Software"), to deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the
+ * Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
+ * WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
+ * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "util/serialise/Serialise.hpp"
+
+#include <catch.hpp>
+#include <list>
+
+SCENARIO("Serialisation works correctly on single primitives", "[util][serialise][single][primitive]") {
+
+    GIVEN("a primitive value") {
+        uint32_t in = 0xCAFEFECA;  // Mirrored so that endianess doesn't matter for the test
+
+        WHEN("it is serialised") {
+            auto serialised = NUClear::util::serialise::Serialise<uint32_t>::serialise(in);
+
+            THEN("The serialised data is as expected") {
+                REQUIRE(serialised.size() == sizeof(uint32_t));
+                REQUIRE(serialised == std::vector<char>{char(0xCA), char(0xFE), char(0xFE), char(0xCA)});
+            }
+        }
+
+        WHEN("it is round tripped through the serialise and deserialise functions") {
+            auto serialised   = NUClear::util::serialise::Serialise<uint32_t>::serialise(in);
+            auto deserialised = NUClear::util::serialise::Serialise<uint32_t>::deserialise(serialised);
+
+            THEN("The deserialised data is the same as the input") {
+                REQUIRE(deserialised == in);
+            }
+        }
+    }
+
+    GIVEN("serialised data for a primitive value") {
+        std::vector<char> in;
+        in.push_back(char(0xCA));
+        in.push_back(char(0xFE));
+        in.push_back(char(0xFE));
+        in.push_back(char(0xCA));
+
+        WHEN("it is deserialised") {
+            auto deserialised = NUClear::util::serialise::Serialise<uint32_t>::deserialise(in);
+
+            THEN("The deserialised data is as expected") {
+                REQUIRE(deserialised == 0xCAFEFECA);
+            }
+        }
+
+        WHEN("it is round tripped through the deserialise and serialise functions") {
+            auto deserialised = NUClear::util::serialise::Serialise<uint32_t>::deserialise(in);
+            auto serialised   = NUClear::util::serialise::Serialise<uint32_t>::serialise(deserialised);
+
+            THEN("The serialised data is the same as the input") {
+                REQUIRE(serialised.size() == in.size());
+                REQUIRE(serialised == in);
+            }
+        }
+    }
+
+    GIVEN("serialised data of the incorrect size") {
+        std::vector<char> in;
+        in.push_back(char(0xCA));
+        in.push_back(char(0xFE));
+        in.push_back(char(0xFE));
+
+        WHEN("it is deserialised") {
+            THEN("The deserialise function throws an exception") {
+                REQUIRE_THROWS_AS(NUClear::util::serialise::Serialise<uint32_t>::deserialise(in), std::length_error);
+            }
+        }
+    }
+}
+
+TEMPLATE_TEST_CASE("Scenario: Serialisation works correctly on iterables of primitives",
+                   "[util][serialise][multiple][primitive]",
+                   std::vector<uint32_t>,
+                   std::list<uint32_t>) {
+
+    GIVEN("a vector of primitive values") {
+        TestType in = {0xABBABAAB, 0xDEADADDE, 0xCAFEFECA, 0xBEEFEFBE};
+
+        WHEN("it is serialised") {
+            auto serialised = NUClear::util::serialise::Serialise<TestType>::serialise(in);
+
+            THEN("The serialised data is as expected") {
+                auto s = std::string(serialised.begin(), serialised.end());
+                REQUIRE(serialised.size() == sizeof(uint32_t) * in.size());
+                REQUIRE(s == "\xAB\xBA\xBA\xAB\xDE\xAD\xAD\xDE\xCA\xFE\xFE\xCA\xBE\xEF\xEF\xBE");
+            }
+        }
+
+        WHEN("it is round tripped through the serialise and deserialise functions") {
+            auto serialised   = NUClear::util::serialise::Serialise<TestType>::serialise(in);
+            auto deserialised = NUClear::util::serialise::Serialise<TestType>::deserialise(serialised);
+
+            THEN("The deserialised data is the same as the input") {
+                REQUIRE(deserialised == in);
+            }
+        }
+    }
+
+    GIVEN("serialised data for multiple primitives") {
+        std::string in_s = "\xBE\xEF\xEF\xBE\xAB\xBA\xBA\xAB\xDE\xAD\xAD\xDE\xCA\xFE\xFE\xCA";
+        std::vector<char> in(in_s.begin(), in_s.end());
+
+        WHEN("it is deserialised") {
+            auto deserialised = NUClear::util::serialise::Serialise<TestType>::deserialise(in);
+
+            THEN("The deserialised data is as expected") {
+                REQUIRE(deserialised.size() == 4);
+                REQUIRE(*std::next(deserialised.begin(), 0) == 0xBEEFEFBE);
+                REQUIRE(*std::next(deserialised.begin(), 1) == 0xABBABAAB);
+                REQUIRE(*std::next(deserialised.begin(), 2) == 0xDEADADDE);
+                REQUIRE(*std::next(deserialised.begin(), 3) == 0xCAFEFECA);
+            }
+        }
+
+        WHEN("it is round tripped through the deserialise and serialise functions") {
+            auto deserialised = NUClear::util::serialise::Serialise<TestType>::deserialise(in);
+            auto serialised   = NUClear::util::serialise::Serialise<TestType>::serialise(deserialised);
+
+            THEN("The serialised data is the same as the input") {
+                REQUIRE(serialised.size() == in.size());
+                REQUIRE(serialised == in);
+            }
+        }
+    }
+
+    GIVEN("empty serialised data") {
+        std::vector<char> in;
+
+        WHEN("it is deserialised") {
+            auto deserialised = NUClear::util::serialise::Serialise<TestType>::deserialise(in);
+
+            THEN("The deserialised data is empty") {
+                REQUIRE(deserialised.size() == 0);
+            }
+        }
+    }
+}
+
+namespace {
+struct TriviallyCopyable {
+    uint8_t a;
+    int8_t b;
+    uint8_t c[2];
+
+    bool operator==(const TriviallyCopyable& rhs) const {
+        return a == rhs.a && b == rhs.b && c[0] == rhs.c[0] && c[1] == rhs.c[1];
+    }
+};
+}  // namespace
+
+SCENARIO("Serialisation works correctly on single trivially copyable types", "[util][serialise][single][trivial]") {
+
+
+    GIVEN("a trivially copyable value") {
+        TriviallyCopyable in = {0xFF, -1, {0xDE, 0xAD}};
+
+        WHEN("it is serialised") {
+            auto serialised = NUClear::util::serialise::Serialise<TriviallyCopyable>::serialise(in);
+
+            THEN("The serialised data is as expected") {
+                REQUIRE(serialised.size() == sizeof(TriviallyCopyable));
+                std::string s(serialised.begin(), serialised.end());
+                REQUIRE(s == "\xFF\xFF\xDE\xAD");
+            }
+        }
+
+        WHEN("it is round tripped through the serialise and deserialise functions") {
+            auto serialised   = NUClear::util::serialise::Serialise<TriviallyCopyable>::serialise(in);
+            auto deserialised = NUClear::util::serialise::Serialise<TriviallyCopyable>::deserialise(serialised);
+
+            THEN("The deserialised data is the same as the input") {
+                REQUIRE(deserialised.a == in.a);
+                REQUIRE(deserialised.b == in.b);
+                REQUIRE(deserialised.c[0] == in.c[0]);
+                REQUIRE(deserialised.c[1] == in.c[1]);
+            }
+        }
+    }
+
+    GIVEN("serialised data for a primitive value") {
+        std::vector<char> in;
+        in.push_back(char(0xCA));
+        in.push_back(char(0xFE));
+        in.push_back(char(0xFE));
+        in.push_back(char(0xCA));
+
+        WHEN("it is deserialised") {
+            auto deserialised = NUClear::util::serialise::Serialise<TriviallyCopyable>::deserialise(in);
+
+            THEN("The deserialised data is as expected") {
+                REQUIRE(deserialised.a == 0xCA);
+                REQUIRE(deserialised.b == -0x02);
+                REQUIRE(deserialised.c[0] == 0xFE);
+                REQUIRE(deserialised.c[1] == 0xCA);
+            }
+        }
+
+        WHEN("it is round tripped through the deserialise and serialise functions") {
+            auto deserialised = NUClear::util::serialise::Serialise<TriviallyCopyable>::deserialise(in);
+            auto serialised   = NUClear::util::serialise::Serialise<TriviallyCopyable>::serialise(deserialised);
+
+            THEN("The serialised data is the same as the input") {
+                REQUIRE(serialised.size() == in.size());
+                REQUIRE(serialised == in);
+            }
+        }
+    }
+
+    GIVEN("serialised data of the incorrect size") {
+        std::vector<char> in;
+        in.push_back(char(0xCA));
+        in.push_back(char(0xFE));
+        in.push_back(char(0xFE));
+
+        WHEN("it is deserialised") {
+            THEN("The deserialise function throws an exception") {
+                REQUIRE_THROWS_AS(NUClear::util::serialise::Serialise<TriviallyCopyable>::deserialise(in),
+                                  std::length_error);
+            }
+        }
+    }
+}
+
+
+TEMPLATE_TEST_CASE("Scenario: Serialisation works correctly on iterables of trivially copyable types",
+                   "[util][serialise][multiple][trivial]",
+                   std::vector<TriviallyCopyable>,
+                   std::list<TriviallyCopyable>) {
+
+    GIVEN("a vector of trivial values") {
+        TestType in = {{'h', 'e', {'l', 'o'}}, {'w', 'o', {'r', 'd'}}};
+
+        WHEN("it is serialised") {
+            auto serialised = NUClear::util::serialise::Serialise<TestType>::serialise(in);
+
+            THEN("The serialised data is as expected") {
+                auto s = std::string(serialised.begin(), serialised.end());
+                REQUIRE(serialised.size() == sizeof(uint32_t) * in.size());
+                REQUIRE(s == "heloword");
+            }
+        }
+
+        WHEN("it is round tripped through the serialise and deserialise functions") {
+            auto serialised   = NUClear::util::serialise::Serialise<TestType>::serialise(in);
+            auto deserialised = NUClear::util::serialise::Serialise<TestType>::deserialise(serialised);
+
+            THEN("The deserialised data is the same as the input") {
+                REQUIRE(deserialised == in);
+            }
+        }
+    }
+
+    GIVEN("serialised data for multiple trivials") {
+        std::string in_s = "Hello World!";
+        std::vector<char> in(in_s.begin(), in_s.end());
+
+        WHEN("it is deserialised") {
+            auto deserialised = NUClear::util::serialise::Serialise<TestType>::deserialise(in);
+
+            THEN("The deserialised data is as expected") {
+                REQUIRE(deserialised.size() == 3);
+                REQUIRE(*std::next(deserialised.begin(), 0) == TriviallyCopyable{'H', 'e', {'l', 'l'}});
+                REQUIRE(*std::next(deserialised.begin(), 1) == TriviallyCopyable{'o', ' ', {'W', 'o'}});
+                REQUIRE(*std::next(deserialised.begin(), 2) == TriviallyCopyable{'r', 'l', {'d', '!'}});
+            }
+        }
+
+        WHEN("it is round tripped through the deserialise and serialise functions") {
+            auto deserialised = NUClear::util::serialise::Serialise<TestType>::deserialise(in);
+            auto serialised   = NUClear::util::serialise::Serialise<TestType>::serialise(deserialised);
+
+            THEN("The serialised data is the same as the input") {
+                REQUIRE(serialised.size() == in.size());
+                REQUIRE(serialised == in);
+            }
+        }
+    }
+
+    GIVEN("empty serialised data") {
+        std::vector<char> in;
+
+        WHEN("it is deserialised") {
+            auto deserialised = NUClear::util::serialise::Serialise<TestType>::deserialise(in);
+
+            THEN("The deserialised data is empty") {
+                REQUIRE(deserialised.size() == 0);
+            }
+        }
+    }
+}