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[wpimath] Add remaining struct and protobuf implementations (#5953)

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This commit is contained in:
Joseph Eng
2024-07-29 07:55:44 -07:00
committed by GitHub
parent 3e1e3fb4ca
commit 073192d513
112 changed files with 3989 additions and 45 deletions
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35
wpimath/src/main/native/cpp/spline/proto/CubicHermiteSplineProto.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/spline/proto/CubicHermiteSplineProto.h"
#include <wpi/ProtoHelper.h>
#include "spline.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::CubicHermiteSpline>::New(
google::protobuf::Arena* arena) {
return wpi::CreateMessage<wpi::proto::ProtobufCubicHermiteSpline>(arena);
}
frc::CubicHermiteSpline wpi::Protobuf<frc::CubicHermiteSpline>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufCubicHermiteSpline*>(&msg);
return frc::CubicHermiteSpline{
wpi::UnpackProtobufArray<double, 2>(m->x_initial()),
wpi::UnpackProtobufArray<double, 2>(m->x_final()),
wpi::UnpackProtobufArray<double, 2>(m->y_initial()),
wpi::UnpackProtobufArray<double, 2>(m->y_final())};
}
void wpi::Protobuf<frc::CubicHermiteSpline>::Pack(
google::protobuf::Message* msg, const frc::CubicHermiteSpline& value) {
auto m = static_cast<wpi::proto::ProtobufCubicHermiteSpline*>(msg);
wpi::PackProtobufArray(m->mutable_x_initial(),
value.GetInitialControlVector().x);
wpi::PackProtobufArray(m->mutable_x_final(), value.GetFinalControlVector().x);
wpi::PackProtobufArray(m->mutable_y_initial(),
value.GetInitialControlVector().y);
wpi::PackProtobufArray(m->mutable_y_final(), value.GetFinalControlVector().y);
}

35
wpimath/src/main/native/cpp/spline/proto/QuinticHermiteSplineProto.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/spline/proto/QuinticHermiteSplineProto.h"
#include <wpi/ProtoHelper.h>
#include "spline.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::QuinticHermiteSpline>::New(
google::protobuf::Arena* arena) {
return wpi::CreateMessage<wpi::proto::ProtobufQuinticHermiteSpline>(arena);
}
frc::QuinticHermiteSpline wpi::Protobuf<frc::QuinticHermiteSpline>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufQuinticHermiteSpline*>(&msg);
return frc::QuinticHermiteSpline{
wpi::UnpackProtobufArray<double, 3>(m->x_initial()),
wpi::UnpackProtobufArray<double, 3>(m->x_final()),
wpi::UnpackProtobufArray<double, 3>(m->y_initial()),
wpi::UnpackProtobufArray<double, 3>(m->y_final())};
}
void wpi::Protobuf<frc::QuinticHermiteSpline>::Pack(
google::protobuf::Message* msg, const frc::QuinticHermiteSpline& value) {
auto m = static_cast<wpi::proto::ProtobufQuinticHermiteSpline*>(msg);
wpi::PackProtobufArray(m->mutable_x_initial(),
value.GetInitialControlVector().x);
wpi::PackProtobufArray(m->mutable_x_final(), value.GetFinalControlVector().x);
wpi::PackProtobufArray(m->mutable_y_initial(),
value.GetInitialControlVector().y);
wpi::PackProtobufArray(m->mutable_y_final(), value.GetFinalControlVector().y);
}

31
wpimath/src/main/native/cpp/spline/struct/CubicHermiteSplineStruct.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/spline/struct/CubicHermiteSplineStruct.h"
namespace {
constexpr size_t kXInitialOff = 0;
constexpr size_t kXFinalOff = kXInitialOff + 2 * 8;
constexpr size_t kYInitialOff = kXFinalOff + 2 * 8;
constexpr size_t kYFinalOff = kYInitialOff + 2 * 8;
} // namespace
frc::CubicHermiteSpline wpi::Struct<frc::CubicHermiteSpline>::Unpack(
std::span<const uint8_t> data) {
return frc::CubicHermiteSpline{
wpi::UnpackStructArray<double, kXInitialOff, 2>(data),
wpi::UnpackStructArray<double, kXFinalOff, 2>(data),
wpi::UnpackStructArray<double, kYInitialOff, 2>(data),
wpi::UnpackStructArray<double, kYFinalOff, 2>(data)};
}
void wpi::Struct<frc::CubicHermiteSpline>::Pack(
std::span<uint8_t> data, const frc::CubicHermiteSpline& value) {
wpi::PackStructArray<kXInitialOff, 2>(data,
value.GetInitialControlVector().x);
wpi::PackStructArray<kXFinalOff, 2>(data, value.GetFinalControlVector().x);
wpi::PackStructArray<kYInitialOff, 2>(data,
value.GetInitialControlVector().y);
wpi::PackStructArray<kYFinalOff, 2>(data, value.GetFinalControlVector().y);
}

31
wpimath/src/main/native/cpp/spline/struct/QuinticHermiteSplineStruct.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/spline/struct/QuinticHermiteSplineStruct.h"
namespace {
constexpr size_t kXInitialOff = 0;
constexpr size_t kXFinalOff = kXInitialOff + 3 * 8;
constexpr size_t kYInitialOff = kXFinalOff + 3 * 8;
constexpr size_t kYFinalOff = kYInitialOff + 3 * 8;
} // namespace
frc::QuinticHermiteSpline wpi::Struct<frc::QuinticHermiteSpline>::Unpack(
std::span<const uint8_t> data) {
return frc::QuinticHermiteSpline{
wpi::UnpackStructArray<double, kXInitialOff, 3>(data),
wpi::UnpackStructArray<double, kXFinalOff, 3>(data),
wpi::UnpackStructArray<double, kYInitialOff, 3>(data),
wpi::UnpackStructArray<double, kYFinalOff, 3>(data)};
}
void wpi::Struct<frc::QuinticHermiteSpline>::Pack(
std::span<uint8_t> data, const frc::QuinticHermiteSpline& value) {
wpi::PackStructArray<kXInitialOff, 3>(data,
value.GetInitialControlVector().x);
wpi::PackStructArray<kXFinalOff, 3>(data, value.GetFinalControlVector().x);
wpi::PackStructArray<kYInitialOff, 3>(data,
value.GetInitialControlVector().y);
wpi::PackStructArray<kYFinalOff, 3>(data, value.GetFinalControlVector().y);
}