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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
921 B
C++
30 lines
921 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/ChassisSpeeds.h"
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using namespace frc;
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namespace {
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const ChassisSpeeds kExpectedData =
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ChassisSpeeds{2.29_mps, 2.2_mps, 0.3504_rad_per_s};
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} // namespace
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TEST(ChassisSpeedsProtoTest, 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.vx.value(), unpacked_data->vx.value());
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EXPECT_EQ(kExpectedData.vy.value(), unpacked_data->vy.value());
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EXPECT_EQ(kExpectedData.omega.value(), unpacked_data->omega.value());
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}
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