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[wpiunits] Change units to track their base unit, instead of their base class (#6342)

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Unit objects now have a reference to the base unit from which they're derived. Constructing a unit object without specifying a base unit implicitly signifies that it's its own base unit, eg new Angle(null, 1, "Radian", "rad") would be the base angle unit of radians, while new Angle(Radians, 2 * PI, "Rotation", "R") would be a new angle unit based on radians.

This fixes much of the hacky code surrounding the derived unit types Velocity, Per, and Mult, but is a breaking change for any user code that defines custom unit classes or uses the anonymous unit type.
This commit is contained in:
Sam Carlberg
2024-05-12 09:15:56 -04:00
committed by GitHub
parent dc00a13d83
commit 6c9dcc157e
23 changed files with 312 additions and 162 deletions
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25
wpiunits/src/main/java/edu/wpi/first/units/BaseUnits.java
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@@ -11,36 +11,33 @@ public final class BaseUnits {
}
/** The standard unit of distance, meters. */
public static final Distance Distance = new Distance(1, "Meter", "m");
public static final Distance Distance = new Distance(null, 1, "Meter", "m");
/** The standard unit of time, seconds. */
public static final Time Time = new Time(1, "Second", "s");
/** The standard unit of velocity, meters per second. */
public static final Velocity<Distance> Velocity =
new Velocity<>(Distance, Time, "Meter per Second", "m/s");
public static final Time Time = new Time(null, 1, "Second", "s");
/** The standard unit of mass, kilograms. */
public static final Mass Mass = new Mass(1, "Kilogram", "Kg");
public static final Mass Mass = new Mass(null, 1, "Kilogram", "Kg");
/** The standard unit of angles, radians. */
public static final Angle Angle = new Angle(1, "Radian", "rad");
public static final Angle Angle = new Angle(null, 1, "Radian", "rad");
/** The standard "unitless" unit. */
public static final Dimensionless Value = new Dimensionless(1, "<?>", "<?>");
public static final Dimensionless Value = new Dimensionless(null, 1, "<?>", "<?>");
/** The standard unit of voltage, volts. */
public static final Voltage Voltage = new Voltage(1, "Volt", "V");
public static final Voltage Voltage = new Voltage(null, 1, "Volt", "V");
/** The standard unit of electric current, amperes. */
public static final Current Current = new Current(1, "Amp", "A");
public static final Current Current = new Current(null, 1, "Amp", "A");
/** The standard unit of energy, joules. */
public static final Energy Energy = new Energy(1, "Joule", "J");
public static final Energy Energy = new Energy(null, 1, "Joule", "J");
/** The standard unit of power, watts. */
public static final Power Power = new Power(1, "Watt", "W");
public static final Power Power = new Power(null, 1, "Watt", "W");
/** The standard unit of temperature, kelvin. */
public static final Temperature Temperature = new Temperature(x -> x, x -> x, "Kelvin", "K");
public static final Temperature Temperature =
new Temperature(null, x -> x, x -> x, "Kelvin", "K");
}