// 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.

package org.wpilib.math.geometry.struct;

import static org.junit.jupiter.api.Assertions.assertEquals;

import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import org.junit.jupiter.api.Test;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Translation2d;

class Pose2dStructTest {
  private static final Pose2d DATA =
      new Pose2d(new Translation2d(0.191, 2.2), new Rotation2d(22.9));

  @Test
  void testRoundtrip() {
    ByteBuffer buffer = ByteBuffer.allocate(Pose2d.struct.getSize());
    buffer.order(ByteOrder.LITTLE_ENDIAN);
    Pose2d.struct.pack(buffer, DATA);
    buffer.rewind();

    Pose2d data = Pose2d.struct.unpack(buffer);
    assertEquals(DATA.getTranslation(), data.getTranslation());
    assertEquals(DATA.getRotation(), data.getRotation());
  }
}
