// 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 <google/protobuf/arena.h>
#include <gtest/gtest.h>

#include "frc/controller/ArmFeedforward.h"

using namespace frc;

namespace {

using ProtoType = wpi::Protobuf<frc::ArmFeedforward>;

static constexpr auto Ks = 1.91_V;
static constexpr auto Kg = 2.29_V;
static constexpr auto Kv = 35.04_V * 1_s / 1_rad;
static constexpr auto Ka = 1.74_V * 1_s * 1_s / 1_rad;
const ArmFeedforward kExpectedData{Ks, Kg, Kv, Ka};
}  // namespace

TEST(ArmFeedforwardProtoTest, Roundtrip) {
  google::protobuf::Arena arena;
  google::protobuf::Message* proto = ProtoType::New(&arena);
  ProtoType::Pack(proto, kExpectedData);

  ArmFeedforward unpacked_data = ProtoType::Unpack(*proto);
  EXPECT_EQ(kExpectedData.GetKs().value(), unpacked_data.GetKs().value());
  EXPECT_EQ(kExpectedData.GetKg().value(), unpacked_data.GetKg().value());
  EXPECT_EQ(kExpectedData.GetKv().value(), unpacked_data.GetKv().value());
  EXPECT_EQ(kExpectedData.GetKa().value(), unpacked_data.GetKa().value());
}