mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
d4311d5a29
libprotobuf is a very annoying dependency to deal with, and with the switch to nanopb for generated C++ code, libprotobuf is only used for dynamic decode in the GUI apps. libprotobuf has been swapped out with upb, a much smaller C-based library that supports reflection and can therefore do dynamic decode. This means we can remove the libprotobuf dependency and stop dealing with build issues because of it.
27 lines
933 B
C++
27 lines
933 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 "../../ProtoTestBase.h"
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#include "frc/kinematics/SwerveDriveKinematics.h"
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#include "frc/kinematics/proto/SwerveDriveKinematicsProto.h"
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using namespace frc;
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struct SwerveDriveKinematicsProtoTestData {
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using Type = SwerveDriveKinematics<4>;
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inline static const Type kTestData{
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frc::Translation2d{1.0_m, 0.9_m}, frc::Translation2d{1.1_m, -0.8_m},
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frc::Translation2d{-1.2_m, 0.7_m}, frc::Translation2d{-1.3_m, -0.6_m}};
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static void CheckEq(const Type& testData, const Type& data) {
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EXPECT_EQ(testData.GetModules(), data.GetModules());
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}
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};
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INSTANTIATE_TYPED_TEST_SUITE_P(SwerveDriveKinematics, ProtoTest,
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SwerveDriveKinematicsProtoTestData);
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