commit 726deb025fb2b0519ffcec05ed01d21930ff5d78
author Ravago Jones <ravagojones@gmail.com> Sat May 29 14:36:43 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 01 20:50:28 2023 -0800
tree 6433fb563c022d6e744f688767ce342e5f0bb4fc
parent 43b537669576a7c1edfa2a7703f6bc7ae9132459

Use ErrorList in estimators

Support it in both the abs + abs, and pot + abs and just abs.

Change-Id: I1c11d5d1fdc3d644f9d391bde7c06b6c6e8ec57d
Signed-off-by: Ravago Jones <ravagojones@gmail.com>

frc971/zeroing/absolute_encoder_test.cc

diff --git a/frc971/zeroing/absolute_encoder_test.cc b/frc971/zeroing/absolute_encoder_test.cc
index 38ce069..ce485eb 100644
--- a/frc971/zeroing/absolute_encoder_test.cc
+++ b/frc971/zeroing/absolute_encoder_test.cc
@@ -1,8 +1,8 @@
 #include "frc971/zeroing/absolute_encoder.h"
 
-#include "gtest/gtest.h"
-
 #include "frc971/zeroing/zeroing_test.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
 
 namespace frc971 {
 namespace zeroing {
@@ -15,7 +15,7 @@
   void MoveTo(PositionSensorSimulator *simulator,
               AbsoluteEncoderZeroingEstimator *estimator, double new_position) {
     simulator->MoveTo(new_position);
-    FBB fbb;
+    flatbuffers::FlatBufferBuilder fbb;
     estimator->UpdateEstimate(
         *simulator->FillSensorValues<AbsolutePosition>(&fbb));
   }
@@ -71,7 +71,7 @@
   AbsoluteEncoderZeroingEstimator estimator(constants);
 
   // We tolerate a couple NANs before we start.
-  FBB fbb;
+  flatbuffers::FlatBufferBuilder fbb;
   fbb.Finish(CreateAbsolutePosition(
       fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN()));
   const auto sensor_values =
@@ -126,7 +126,7 @@
 
   AbsoluteEncoderZeroingEstimator estimator(constants);
 
-  FBB fbb;
+  flatbuffers::FlatBufferBuilder fbb;
   fbb.Finish(CreateAbsolutePosition(
       fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN()));
   const auto sensor_values =
@@ -138,6 +138,16 @@
 
   estimator.UpdateEstimate(*sensor_values);
   ASSERT_TRUE(estimator.error());
+
+  flatbuffers::FlatBufferBuilder fbb2;
+  fbb2.Finish(estimator.GetEstimatorState(&fbb2));
+
+  const AbsoluteEncoderEstimatorState *state =
+      flatbuffers::GetRoot<AbsoluteEncoderEstimatorState>(
+          fbb2.GetBufferPointer());
+
+  EXPECT_THAT(*state->errors(),
+              ::testing::ElementsAre(ZeroingError::LOST_ABSOLUTE_ENCODER));
 }
 
 }  // namespace testing