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[wpimath] Add protobuf/struct for trivial types (#5935)

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This implements de/serialization for the types that aren't templated (SwerveDriveKinematics) in C++ or where there is no trivial way to go round-trip (Splines) for the messages.
This commit is contained in:
PJ Reiniger
2023-11-21 13:14:06 -05:00
committed by GitHub
parent 35744a036e
commit bb05e20247
158 changed files with 4266 additions and 4 deletions
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42
wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.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 <gtest/gtest.h>
#include "frc/system/plant/DCMotor.h"
#include "plant.pb.h"
using namespace frc;
namespace {
using ProtoType = wpi::Protobuf<frc::DCMotor>;
const DCMotor kExpectedData = DCMotor{units::volt_t{1.91},
units::newton_meter_t{19.1},
units::ampere_t{1.74},
units::ampere_t{2.29},
units::radians_per_second_t{2.2},
2};
} // namespace
TEST(DCMotorProtoTest, Roundtrip) {
google::protobuf::Arena arena;
google::protobuf::Message* proto = ProtoType::New(&arena);
ProtoType::Pack(proto, kExpectedData);
DCMotor unpacked_data = ProtoType::Unpack(*proto);
EXPECT_EQ(kExpectedData.nominalVoltage.value(),
unpacked_data.nominalVoltage.value());
EXPECT_EQ(kExpectedData.stallTorque.value(),
unpacked_data.stallTorque.value());
EXPECT_EQ(kExpectedData.stallCurrent.value(),
unpacked_data.stallCurrent.value());
EXPECT_EQ(kExpectedData.freeCurrent.value(),
unpacked_data.freeCurrent.value());
EXPECT_EQ(kExpectedData.freeSpeed.value(), unpacked_data.freeSpeed.value());
EXPECT_EQ(kExpectedData.R.value(), unpacked_data.R.value());
EXPECT_EQ(kExpectedData.Kv.value(), unpacked_data.Kv.value());
EXPECT_EQ(kExpectedData.Kt.value(), unpacked_data.Kt.value());
}

41
wpimath/src/test/native/cpp/system/plant/struct/DCMotorStructTest.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 <gtest/gtest.h>
#include "frc/system/plant/DCMotor.h"
using namespace frc;
namespace {
using StructType = wpi::Struct<frc::DCMotor>;
const DCMotor kExpectedData = DCMotor{units::volt_t{1.91},
units::newton_meter_t{19.1},
units::ampere_t{1.74},
units::ampere_t{2.29},
units::radians_per_second_t{2.2},
2};
} // namespace
TEST(DCMotorStructTest, Roundtrip) {
uint8_t buffer[StructType::kSize];
std::memset(buffer, 0, StructType::kSize);
StructType::Pack(buffer, kExpectedData);
DCMotor unpacked_data = StructType::Unpack(buffer);
EXPECT_EQ(kExpectedData.nominalVoltage.value(),
unpacked_data.nominalVoltage.value());
EXPECT_EQ(kExpectedData.stallTorque.value(),
unpacked_data.stallTorque.value());
EXPECT_EQ(kExpectedData.stallCurrent.value(),
unpacked_data.stallCurrent.value());
EXPECT_EQ(kExpectedData.freeCurrent.value(),
unpacked_data.freeCurrent.value());
EXPECT_EQ(kExpectedData.freeSpeed.value(), unpacked_data.freeSpeed.value());
EXPECT_EQ(kExpectedData.R.value(), unpacked_data.R.value());
EXPECT_EQ(kExpectedData.Kv.value(), unpacked_data.Kv.value());
EXPECT_EQ(kExpectedData.Kt.value(), unpacked_data.Kt.value());
}