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[wpimath] Add remaining struct and protobuf implementations (#5953)

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This commit is contained in:
Joseph Eng
2024-07-29 07:55:44 -07:00
committed by GitHub
parent 3e1e3fb4ca
commit 073192d513
112 changed files with 3989 additions and 45 deletions
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61
wpimath/src/test/native/cpp/StructTestBase.h Normal file
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// 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.
#pragma once
#include <gtest/gtest.h>
#include <wpi/struct/Struct.h>
template <typename T>
class StructTest : public testing::Test {};
TYPED_TEST_SUITE_P(StructTest);
// For these tests:
// TypeParam defines Type, kTestData, and CheckEq
// Type is the data type
// StructType is the instantiation of wpi::Struct<>
TYPED_TEST_P(StructTest, RoundTrip) {
using Type = typename TypeParam::Type;
using StructType = wpi::Struct<Type>;
uint8_t buffer[StructType::GetSize()];
std::memset(buffer, 0, StructType::GetSize());
wpi::PackStruct(buffer, TypeParam::kTestData);
Type unpacked_data = wpi::UnpackStruct<Type>(buffer);
TypeParam::CheckEq(TypeParam::kTestData, unpacked_data);
}
TYPED_TEST_P(StructTest, DoublePack) {
using Type = typename TypeParam::Type;
using StructType = wpi::Struct<Type>;
uint8_t buffer[StructType::GetSize()];
std::memset(buffer, 0, StructType::GetSize());
wpi::PackStruct(buffer, TypeParam::kTestData);
wpi::PackStruct(buffer, TypeParam::kTestData);
Type unpacked_data = wpi::UnpackStruct<Type>(buffer);
TypeParam::CheckEq(TypeParam::kTestData, unpacked_data);
}
TYPED_TEST_P(StructTest, DoubleUnpack) {
using Type = typename TypeParam::Type;
using StructType = wpi::Struct<Type>;
uint8_t buffer[StructType::GetSize()];
std::memset(buffer, 0, StructType::GetSize());
wpi::PackStruct(buffer, TypeParam::kTestData);
{
Type unpacked_data = wpi::UnpackStruct<Type>(buffer);
TypeParam::CheckEq(TypeParam::kTestData, unpacked_data);
}
{
Type unpacked_data = wpi::UnpackStruct<Type>(buffer);
TypeParam::CheckEq(TypeParam::kTestData, unpacked_data);
}
}
REGISTER_TYPED_TEST_SUITE_P(StructTest, RoundTrip, DoublePack, DoubleUnpack);