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The Google C++ protobuf implementation has issues with dynamic linkage across DLL boundaries because it uses global variables. It also has a compile-time dependency because the protoc version must exactly match the libprotobuf version. Using nanopb with a customized generator fixes both of these issues. Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
29 lines
873 B
C++
29 lines
873 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/SmallVector.h>
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#include "frc/kinematics/SwerveModulePosition.h"
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using namespace frc;
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namespace {
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const SwerveModulePosition kExpectedData =
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SwerveModulePosition{3.504_m, Rotation2d{17.4_rad}};
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} // namespace
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TEST(SwerveModulePositionProtoTest, Roundtrip) {
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wpi::ProtobufMessage<decltype(kExpectedData)> message;
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wpi::SmallVector<uint8_t, 64> buf;
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ASSERT_TRUE(message.Pack(buf, kExpectedData));
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auto unpacked_data = message.Unpack(buf);
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ASSERT_TRUE(unpacked_data.has_value());
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EXPECT_EQ(kExpectedData.distance.value(), unpacked_data->distance.value());
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EXPECT_EQ(kExpectedData.angle, unpacked_data->angle);
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}
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