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[ntcore] Add UnitTopic<T> (C++ only) (#4497)

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This avoids the need for explicit value() calls (as compared to using
DoubleTopic).  The unit name is published as the "unit" property.

Implementation note: the test needs to be in wpilibc because ntcore does
not depend on wpimath.
This commit is contained in:
Peter Johnson
2022-10-24 20:07:44 -07:00
committed by GitHub
parent 11244a49d9
commit 15ad855f1d
3 changed files with 598 additions and 0 deletions
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45
wpilibc/src/test/native/cpp/UnitNetworkTablesTest.cpp 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.
#include <networktables/DoubleTopic.h>
#include <networktables/NetworkTableInstance.h>
#include <networktables/UnitTopic.h>
#include <units/length.h>
#include "gtest/gtest.h"
class UnitNetworkTablesTest : public ::testing::Test {
public:
UnitNetworkTablesTest() : inst{nt::NetworkTableInstance::Create()} {}
~UnitNetworkTablesTest() override { nt::NetworkTableInstance::Destroy(inst); }
nt::NetworkTableInstance inst;
};
TEST_F(UnitNetworkTablesTest, Publish) {
auto topic = nt::UnitTopic<units::meter_t>{inst.GetTopic("meterTest")};
auto pub = topic.Publish();
pub.Set(2_m);
ASSERT_EQ(topic.GetProperty("unit"), "meter");
ASSERT_TRUE(topic.IsMatchingUnit());
}
TEST_F(UnitNetworkTablesTest, SubscribeDouble) {
auto topic = nt::UnitTopic<units::meter_t>{inst.GetTopic("meterTest")};
auto pub = topic.Publish();
auto sub = inst.GetDoubleTopic("meterTest").Subscribe(0);
ASSERT_EQ(sub.Get(), 0);
ASSERT_EQ(sub.Get(3), 3);
pub.Set(2_m);
ASSERT_EQ(sub.Get(), 2);
}
TEST_F(UnitNetworkTablesTest, SubscribeUnit) {
auto topic = nt::UnitTopic<units::meter_t>{inst.GetTopic("meterTest")};
auto pub = topic.Publish();
auto sub = topic.Subscribe(0_m);
ASSERT_EQ(sub.Get(), 0_m);
ASSERT_EQ(sub.Get(3_m), 3_m);
pub.Set(2_m);
ASSERT_EQ(sub.Get(), 2_m);
}