allwpilib/wpimath/src/test/native/cpp/kinematics/proto/ChassisVelocitiesProtoTest.cpp

// 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/ChassisVelocities.hpp"
#include "wpi/util/SmallVector.hpp"

using namespace wpi::math;

namespace {

const ChassisVelocities kExpectedData =
    ChassisVelocities{2.29_mps, 2.2_mps, 0.3504_rad_per_s};
}  // namespace

TEST(ChassisVelocitiesProtoTest, Roundtrip) {
  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
  wpi::util::SmallVector<uint8_t, 64> buf;

  ASSERT_TRUE(message.Pack(buf, kExpectedData));
  auto unpacked_data = message.Unpack(buf);
  ASSERT_TRUE(unpacked_data.has_value());

  EXPECT_EQ(kExpectedData.vx.value(), unpacked_data->vx.value());
  EXPECT_EQ(kExpectedData.vy.value(), unpacked_data->vy.value());
  EXPECT_EQ(kExpectedData.omega.value(), unpacked_data->omega.value());
}