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28 lines
856 B
C++
28 lines
856 B
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 <gtest/gtest.h>
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#include "wpi/math/kinematics/SwerveModuleState.hpp"
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using namespace frc;
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namespace {
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using StructType = wpi::Struct<frc::SwerveModuleState>;
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const SwerveModuleState kExpectedData{
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SwerveModuleState{22.9_mps, Rotation2d{3.3_rad}}};
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} // namespace
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TEST(SwerveModuleStateStructTest, Roundtrip) {
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uint8_t buffer[StructType::GetSize()];
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std::memset(buffer, 0, StructType::GetSize());
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StructType::Pack(buffer, kExpectedData);
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SwerveModuleState unpacked_data = StructType::Unpack(buffer);
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EXPECT_EQ(kExpectedData.speed.value(), unpacked_data.speed.value());
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EXPECT_EQ(kExpectedData.angle, unpacked_data.angle);
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}
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