Send a CameraCommand from the roboRIO too
This will be triggered by buttons soon.
Change-Id: I99d5113e3be4cba57549e33263f958ca4d232705
diff --git a/y2019/jevois/spi_test.cc b/y2019/jevois/spi_test.cc
index 8f08fcb..32551db 100644
--- a/y2019/jevois/spi_test.cc
+++ b/y2019/jevois/spi_test.cc
@@ -107,7 +107,28 @@
// Tests packing and then unpacking an empty message.
TEST(SpiToTeensyPackTest, Empty) {
+ RoborioToTeensy input_message{};
+ const SpiTransfer transfer = SpiPackToTeensy(input_message);
+ const auto output_message = SpiUnpackToTeensy(transfer);
+ ASSERT_TRUE(output_message);
+ EXPECT_EQ(input_message, output_message.value());
+}
+
+// Tests packing and then unpacking a message with all the fields set.
+TEST(SpiToTeensyPackTest, Full) {
RoborioToTeensy input_message;
+ input_message.beacon_brightness[0] = 9;
+ input_message.beacon_brightness[1] = 7;
+ input_message.beacon_brightness[2] = 1;
+ input_message.light_rings[0] = 1;
+ input_message.light_rings[1] = 0;
+ input_message.light_rings[2] = 0;
+ input_message.light_rings[3] = 1;
+ input_message.light_rings[4] = 0;
+ input_message.realtime_now =
+ aos::realtime_clock::epoch() + std::chrono::seconds(971254);
+ input_message.camera_command = CameraCommand::kUsb;
+
const SpiTransfer transfer = SpiPackToTeensy(input_message);
const auto output_message = SpiUnpackToTeensy(transfer);
ASSERT_TRUE(output_message);