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[wpimath] Improve C++ SimpleMotorFeedforward unit type support (#7440)

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Allow using non-base types
Allow using angles for serde
This commit is contained in:
Joseph Eng
2024-11-27 23:02:31 -08:00
committed by GitHub
parent 9607c6c10d
commit 59dbfc9c2d
5 changed files with 60 additions and 38 deletions
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3
wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
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@@ -20,8 +20,7 @@ namespace frc {
* permanent-magnet DC motor.
*/
template <class Distance>
requires std::same_as<units::meter, Distance> ||
std::same_as<units::radian, Distance>
requires units::length_unit<Distance> || units::angle_unit<Distance>
class SimpleMotorFeedforward {
public:
using Velocity =

30
wpimath/src/main/native/include/frc/controller/proto/SimpleMotorFeedforwardProto.h
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@@ -12,10 +12,12 @@
#include "wpimath/protobuf/controller.npb.h"
// Everything is converted into units for
// frc::SimpleMotorFeedforward<units::meters>
// frc::SimpleMotorFeedforward<units::meters> or
// frc::SimpleMotorFeedforward<units::radians>
template <class Distance>
struct wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>> { // NOLINT
requires units::length_unit<Distance> || units::angle_unit<Distance>
struct wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>> {
using MessageStruct = wpi_proto_ProtobufSimpleMotorFeedforward;
using InputStream =
wpi::ProtoInputStream<frc::SimpleMotorFeedforward<Distance>>;
@@ -24,6 +26,9 @@ struct wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>> { // NOLINT
static std::optional<frc::SimpleMotorFeedforward<Distance>> Unpack(
InputStream& stream) {
using BaseUnit =
units::unit<std::ratio<1>, units::traits::base_unit_of<Distance>>;
using BaseFeedforward = frc::SimpleMotorFeedforward<BaseUnit>;
wpi_proto_ProtobufSimpleMotorFeedforward msg;
if (!stream.Decode(msg)) {
return {};
@@ -31,26 +36,23 @@ struct wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>> { // NOLINT
return frc::SimpleMotorFeedforward<Distance>{
units::volt_t{msg.ks},
units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
msg.kv},
units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
msg.ka},
units::unit_t<typename BaseFeedforward::kv_unit>{msg.kv},
units::unit_t<typename BaseFeedforward::ka_unit>{msg.ka},
units::second_t{msg.dt},
};
}
static bool Pack(OutputStream& stream,
const frc::SimpleMotorFeedforward<Distance>& value) {
using BaseUnit =
units::unit<std::ratio<1>, units::traits::base_unit_of<Distance>>;
using BaseFeedforward = frc::SimpleMotorFeedforward<BaseUnit>;
wpi_proto_ProtobufSimpleMotorFeedforward msg{
.ks = value.GetKs().value(),
.kv =
units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
value.GetKv()}
.value(),
.ka =
units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
value.GetKa()}
.value(),
.kv = units::unit_t<typename BaseFeedforward::kv_unit>{value.GetKv()}
.value(),
.ka = units::unit_t<typename BaseFeedforward::ka_unit>{value.GetKa()}
.value(),
.dt = units::second_t{value.GetDt()}.value(),
};
return stream.Encode(msg);

25
wpimath/src/main/native/include/frc/controller/struct/SimpleMotorFeedforwardStruct.h
View File

@@ -14,6 +14,7 @@
// frc::SimpleMotorFeedforward<units::radians>
template <class Distance>
requires units::length_unit<Distance> || units::angle_unit<Distance>
struct wpi::Struct<frc::SimpleMotorFeedforward<Distance>> {
static constexpr std::string_view GetTypeName() {
return "SimpleMotorFeedforward";
@@ -25,40 +26,44 @@ struct wpi::Struct<frc::SimpleMotorFeedforward<Distance>> {
static frc::SimpleMotorFeedforward<Distance> Unpack(
std::span<const uint8_t> data) {
using BaseUnit =
units::unit<std::ratio<1>, units::traits::base_unit_of<Distance>>;
using BaseFeedforward = frc::SimpleMotorFeedforward<BaseUnit>;
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>{
units::unit_t<typename BaseFeedforward::kv_unit>{
wpi::UnpackStruct<double, kKvOff>(data)},
units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
units::unit_t<typename BaseFeedforward::ka_unit>{
wpi::UnpackStruct<double, kKaOff>(data)},
units::second_t{wpi::UnpackStruct<double, kDtOff>(data)}};
}
static void Pack(std::span<uint8_t> data,
const frc::SimpleMotorFeedforward<Distance>& value) {
using BaseUnit =
units::unit<std::ratio<1>, units::traits::base_unit_of<Distance>>;
using BaseFeedforward = frc::SimpleMotorFeedforward<BaseUnit>;
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());
data, units::unit_t<typename BaseFeedforward::kv_unit>{value.GetKv()}
.value());
wpi::PackStruct<kKaOff>(
data,
units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
value.GetKa()}
.value());
data, units::unit_t<typename BaseFeedforward::ka_unit>{value.GetKa()}
.value());
wpi::PackStruct<kDtOff>(data, units::second_t{value.GetDt()}.value());
}
};
static_assert(
wpi::StructSerializable<frc::SimpleMotorFeedforward<units::meters>>);
static_assert(
wpi::StructSerializable<frc::SimpleMotorFeedforward<units::feet>>);
static_assert(
wpi::StructSerializable<frc::SimpleMotorFeedforward<units::radians>>);