mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
54 lines
1.7 KiB
C++
54 lines
1.7 KiB
C++
|
/*
|
||
|
|
* Copyright (C) Photon Vision.
|
||
|
|
*
|
||
|
|
* This program is free software: you can redistribute it and/or modify
|
||
|
|
* it under the terms of the GNU General Public License as published by
|
||
|
|
* the Free Software Foundation, either version 3 of the License, or
|
||
|
|
* (at your option) any later version.
|
||
|
|
*
|
||
|
|
* This program is distributed in the hope that it will be useful,
|
||
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
* GNU General Public License for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU General Public License
|
||
|
|
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "gtest/gtest.h"
|
||
|
|
#include "photon.pb.h"
|
||
|
|
#include "photon/targeting/PNPResult.h"
|
||
|
|
#include "photon/targeting/proto/PNPResultProto.h"
|
||
|
|
|
||
|
|
TEST(PNPResultTest, Roundtrip) {
|
||
|
|
photon::PNPResult result;
|
||
|
|
|
||
|
|
google::protobuf::Arena arena;
|
||
|
|
google::protobuf::Message* proto =
|
||
|
|
wpi::Protobuf<photon::PNPResult>::New(&arena);
|
||
|
|
wpi::Protobuf<photon::PNPResult>::Pack(proto, result);
|
||
|
|
|
||
|
|
photon::PNPResult unpacked_data =
|
||
|
|
wpi::Protobuf<photon::PNPResult>::Unpack(*proto);
|
||
|
|
|
||
|
|
EXPECT_EQ(result, unpacked_data);
|
||
|
|
|
||
|
|
photon::PNPResult result1{
|
||
|
|
true,
|
||
|
|
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
|
||
|
|
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
|
||
|
|
0.1,
|
||
|
|
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
|
||
|
|
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
|
||
|
|
0.1,
|
||
|
|
0};
|
||
|
|
|
||
|
|
proto = wpi::Protobuf<photon::PNPResult>::New(&arena);
|
||
|
|
wpi::Protobuf<photon::PNPResult>::Pack(proto, result1);
|
||
|
|
|
||
|
|
photon::PNPResult unpacked_data2 =
|
||
|
|
wpi::Protobuf<photon::PNPResult>::Unpack(*proto);
|
||
|
|
|
||
|
|
EXPECT_EQ(result1, unpacked_data2);
|
||
|
|
}
|