mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
28 lines
865 B
C++
28 lines
865 B
C++
|
// 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 "frc/kinematics/SwerveModulePosition.h"
|
||
|
|
|
||
|
|
using namespace frc;
|
||
|
|
|
||
|
|
namespace {
|
||
|
|
|
||
|
|
using StructType = wpi::Struct<frc::SwerveModulePosition>;
|
||
|
|
const SwerveModulePosition kExpectedData{
|
||
|
|
SwerveModulePosition{3.504_m, Rotation2d{17.4_rad}}};
|
||
|
|
} // namespace
|
||
|
|
|
||
|
|
TEST(SwerveModulePositionStructTest, Roundtrip) {
|
||
|
|
uint8_t buffer[StructType::kSize];
|
||
|
|
std::memset(buffer, 0, StructType::kSize);
|
||
|
|
StructType::Pack(buffer, kExpectedData);
|
||
|
|
|
||
|
|
SwerveModulePosition unpacked_data = StructType::Unpack(buffer);
|
||
|
|
|
||
|
|
EXPECT_EQ(kExpectedData.distance.value(), unpacked_data.distance.value());
|
||
|
|
EXPECT_EQ(kExpectedData.angle, unpacked_data.angle);
|
||
|
|
}
|