// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include <gtest/gtest.h>

#include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"

using namespace wpi::math;

namespace {

using StructType = wpi::util::Struct<wpi::math::MecanumDriveWheelPositions>;
const MecanumDriveWheelPositions kExpectedData{
    MecanumDriveWheelPositions{17.4_m, 2.29_m, 22.9_m, 1.74_m}};
}  // namespace

TEST(MecanumDriveWheelPositionsStructTest, Roundtrip) {
  uint8_t buffer[StructType::GetSize()];
  std::memset(buffer, 0, StructType::GetSize());
  StructType::Pack(buffer, kExpectedData);

  MecanumDriveWheelPositions unpacked_data = StructType::Unpack(buffer);

  EXPECT_EQ(kExpectedData.frontLeft.value(), unpacked_data.frontLeft.value());
  EXPECT_EQ(kExpectedData.frontRight.value(), unpacked_data.frontRight.value());
  EXPECT_EQ(kExpectedData.rearLeft.value(), unpacked_data.rearLeft.value());
  EXPECT_EQ(kExpectedData.rearRight.value(), unpacked_data.rearRight.value());
}
