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https://github.com/wpilibsuite/allwpilib
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bb05e20247
This implements de/serialization for the types that aren't templated (SwerveDriveKinematics) in C++ or where there is no trivial way to go round-trip (Splines) for the messages.
34 lines
1.1 KiB
C++
34 lines
1.1 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 <gtest/gtest.h>
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#include "controller.pb.h"
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#include "frc/controller/ArmFeedforward.h"
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using namespace frc;
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namespace {
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using ProtoType = wpi::Protobuf<frc::ArmFeedforward>;
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static constexpr auto Ks = 1.91_V;
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static constexpr auto Kg = 2.29_V;
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static constexpr auto Kv = 35.04_V * 1_s / 1_rad;
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static constexpr auto Ka = 1.74_V * 1_s * 1_s / 1_rad;
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const ArmFeedforward kExpectedData{Ks, Kg, Kv, Ka};
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} // namespace
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TEST(ArmFeedforwardProtoTest, Roundtrip) {
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google::protobuf::Arena arena;
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google::protobuf::Message* proto = ProtoType::New(&arena);
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ProtoType::Pack(proto, kExpectedData);
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ArmFeedforward unpacked_data = ProtoType::Unpack(*proto);
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EXPECT_EQ(kExpectedData.kS.value(), unpacked_data.kS.value());
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EXPECT_EQ(kExpectedData.kG.value(), unpacked_data.kG.value());
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EXPECT_EQ(kExpectedData.kV.value(), unpacked_data.kV.value());
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EXPECT_EQ(kExpectedData.kA.value(), unpacked_data.kA.value());
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}
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