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

wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h

@@ -79,5 +79,13 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
       units::meters_per_second_t nextLeftVelocity,
       units::meters_per_second_t currentRightVelocity,
       units::meters_per_second_t nextRightVelocity, units::second_t dt);
+
+  decltype(1_V / 1_mps) m_kVLinear;
+  decltype(1_V / 1_mps_sq) m_kALinear;
+  decltype(1_V / 1_mps) m_kVAngular;
+  decltype(1_V / 1_mps_sq) m_kAAngular;
 };
 }  // namespace frc
+
+#include "frc/controller/proto/DifferentialDriveFeedforwardProto.h"
+#include "frc/controller/struct/DifferentialDriveFeedforwardStruct.h"

wpimath/src/main/native/include/frc/controller/proto/DifferentialDriveFeedforwardProto.h

@@ -0,0 +1,19 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/protobuf/Protobuf.h>
+
+#include "frc/controller/DifferentialDriveFeedforward.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveFeedforward> {
+  static google::protobuf::Message* New(google::protobuf::Arena* arena);
+  static frc::DifferentialDriveFeedforward Unpack(
+      const google::protobuf::Message& msg);
+  static void Pack(google::protobuf::Message* msg,
+                   const frc::DifferentialDriveFeedforward& value);
+};

wpimath/src/main/native/include/frc/controller/proto/SimpleMotorFeedforwardProto.h

@@ -0,0 +1,24 @@
+// 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.
+
+#pragma once
+
+#include <wpi/protobuf/Protobuf.h>
+
+#include "frc/controller/SimpleMotorFeedforward.h"
+#include "units/length.h"
+
+// Everything is converted into units for
+// frc::SimpleMotorFeedforward<units::meters>
+
+template <class Distance>
+struct wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>> {
+  static google::protobuf::Message* New(google::protobuf::Arena* arena);
+  static frc::SimpleMotorFeedforward<Distance> Unpack(
+      const google::protobuf::Message& msg);
+  static void Pack(google::protobuf::Message* msg,
+                   const frc::SimpleMotorFeedforward<Distance>& value);
+};
+
+#include "frc/controller/proto/SimpleMotorFeedforwardProto.inc"

wpimath/src/main/native/include/frc/controller/proto/SimpleMotorFeedforwardProto.inc

@@ -0,0 +1,45 @@
+// 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.
+
+#pragma once
+
+#include <wpi/ProtoHelper.h>
+
+#include "controller.pb.h"
+#include "frc/controller/proto/SimpleMotorFeedforwardProto.h"
+
+template <class Distance>
+google::protobuf::Message*
+wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>>::New(
+    google::protobuf::Arena* arena) {
+  return wpi::CreateMessage<wpi::proto::ProtobufSimpleMotorFeedforward>(arena);
+}
+
+template <class Distance>
+frc::SimpleMotorFeedforward<Distance>
+wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>>::Unpack(
+    const google::protobuf::Message& msg) {
+  auto m = static_cast<const wpi::proto::ProtobufSimpleMotorFeedforward*>(&msg);
+  return {units::volt_t{m->ks()},
+          units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
+              m->kv()},
+          units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
+              m->ka()},
+          units::second_t{m->dt()}};
+}
+
+template <class Distance>
+void wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>>::Pack(
+    google::protobuf::Message* msg,
+    const frc::SimpleMotorFeedforward<Distance>& value) {
+  auto m = static_cast<wpi::proto::ProtobufSimpleMotorFeedforward*>(msg);
+  m->set_ks(value.GetKs().value());
+  m->set_kv(units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
+      value.GetKv()}
+                .value());
+  m->set_ka(units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
+      value.GetKa()}
+                .value());
+  m->set_dt(units::second_t{value.GetDt()}.value());
+}

wpimath/src/main/native/include/frc/controller/struct/DifferentialDriveFeedforwardStruct.h

@@ -0,0 +1,29 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/controller/DifferentialDriveFeedforward.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveFeedforward> {
+  static constexpr std::string_view GetTypeName() {
+    return "DifferentialDriveFeedforward";
+  }
+  static constexpr size_t GetSize() { return 32; }
+  static constexpr std::string_view GetSchema() {
+    return "double kv_linear;double ka_linear;double kv_angular;double "
+           "ka_angular";
+  }
+
+  static frc::DifferentialDriveFeedforward Unpack(
+      std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data,
+                   const frc::DifferentialDriveFeedforward& value);
+};
+
+static_assert(wpi::StructSerializable<frc::DifferentialDriveFeedforward>);

wpimath/src/main/native/include/frc/controller/struct/SimpleMotorFeedforwardStruct.h

@@ -0,0 +1,36 @@
+// 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.
+
+#pragma once
+
+#include <wpi/struct/Struct.h>
+
+#include "frc/controller/SimpleMotorFeedforward.h"
+#include "units/length.h"
+
+// Everything is converted into units for
+// frc::SimpleMotorFeedforward<units::meters>
+
+template <class Distance>
+struct wpi::Struct<frc::SimpleMotorFeedforward<Distance>> {
+  static constexpr std::string_view GetTypeName() {
+    return "SimpleMotorFeedforward";
+  }
+  static constexpr size_t GetSize() { return 32; }
+  static constexpr std::string_view GetSchema() {
+    return "double ks;double kv;double ka;double dt";
+  }
+
+  static frc::SimpleMotorFeedforward<Distance> Unpack(
+      std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data,
+                   const frc::SimpleMotorFeedforward<Distance>& value);
+};
+
+static_assert(
+    wpi::StructSerializable<frc::SimpleMotorFeedforward<units::meters>>);
+static_assert(
+    wpi::StructSerializable<frc::SimpleMotorFeedforward<units::feet>>);
+
+#include "frc/controller/struct/SimpleMotorFeedforwardStruct.inc"

wpimath/src/main/native/include/frc/controller/struct/SimpleMotorFeedforwardStruct.inc

@@ -0,0 +1,45 @@
+// 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.
+
+#pragma once
+
+#include "frc/controller/struct/SimpleMotorFeedforwardStruct.h"
+
+template <class Distance>
+frc::SimpleMotorFeedforward<Distance>
+wpi::Struct<frc::SimpleMotorFeedforward<Distance>>::Unpack(
+    std::span<const uint8_t> data) {
+  constexpr size_t kKsOff = 0;
+  constexpr size_t kKvOff = kKsOff + 8;
+  constexpr size_t kKaOff = kKvOff + 8;
+  constexpr size_t kDtOff = kKaOff + 8;
+  return {units::volt_t{wpi::UnpackStruct<double, kKsOff>(data)},
+          units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
+              wpi::UnpackStruct<double, kKvOff>(data)},
+          units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
+              wpi::UnpackStruct<double, kKaOff>(data)},
+          units::second_t{wpi::UnpackStruct<double, kDtOff>(data)}};
+}
+
+template <class Distance>
+void wpi::Struct<frc::SimpleMotorFeedforward<Distance>>::Pack(
+    std::span<uint8_t> data,
+    const frc::SimpleMotorFeedforward<Distance>& value) {
+  constexpr size_t kKsOff = 0;
+  constexpr size_t kKvOff = kKsOff + 8;
+  constexpr size_t kKaOff = kKvOff + 8;
+  constexpr size_t kDtOff = kKaOff + 8;
+  wpi::PackStruct<kKsOff>(data, value.GetKs().value());
+  wpi::PackStruct<kKvOff>(
+      data,
+      units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
+          value.GetKv()}
+          .value());
+  wpi::PackStruct<kKaOff>(
+      data,
+      units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
+          value.GetKa()}
+          .value());
+  wpi::PackStruct<kDtOff>(data, units::second_t{value.GetDt()}.value());
+}