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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>
30 lines
884 B
C++
30 lines
884 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/geometry/Pose3d.h"
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using namespace frc;
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namespace {
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const Pose3d kExpectedData =
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Pose3d{Translation3d{1.1_m, 2.2_m, 1.1_m},
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Rotation3d{Quaternion{1.91, 0.3504, 3.3, 1.74}}};
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} // namespace
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TEST(Pose3dProtoTest, 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.Translation(), unpacked_data->Translation());
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EXPECT_EQ(kExpectedData.Rotation(), unpacked_data->Rotation());
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}
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