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15ad855f1d
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.
46 lines
1.5 KiB
C++
46 lines
1.5 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <networktables/DoubleTopic.h>
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#include <networktables/NetworkTableInstance.h>
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#include <networktables/UnitTopic.h>
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#include <units/length.h>
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#include "gtest/gtest.h"
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class UnitNetworkTablesTest : public ::testing::Test {
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public:
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UnitNetworkTablesTest() : inst{nt::NetworkTableInstance::Create()} {}
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~UnitNetworkTablesTest() override { nt::NetworkTableInstance::Destroy(inst); }
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nt::NetworkTableInstance inst;
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};
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TEST_F(UnitNetworkTablesTest, Publish) {
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auto topic = nt::UnitTopic<units::meter_t>{inst.GetTopic("meterTest")};
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auto pub = topic.Publish();
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pub.Set(2_m);
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ASSERT_EQ(topic.GetProperty("unit"), "meter");
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ASSERT_TRUE(topic.IsMatchingUnit());
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}
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TEST_F(UnitNetworkTablesTest, SubscribeDouble) {
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auto topic = nt::UnitTopic<units::meter_t>{inst.GetTopic("meterTest")};
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auto pub = topic.Publish();
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auto sub = inst.GetDoubleTopic("meterTest").Subscribe(0);
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ASSERT_EQ(sub.Get(), 0);
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ASSERT_EQ(sub.Get(3), 3);
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pub.Set(2_m);
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ASSERT_EQ(sub.Get(), 2);
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}
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TEST_F(UnitNetworkTablesTest, SubscribeUnit) {
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auto topic = nt::UnitTopic<units::meter_t>{inst.GetTopic("meterTest")};
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auto pub = topic.Publish();
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auto sub = topic.Subscribe(0_m);
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ASSERT_EQ(sub.Get(), 0_m);
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ASSERT_EQ(sub.Get(3_m), 3_m);
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pub.Set(2_m);
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ASSERT_EQ(sub.Get(), 2_m);
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}
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