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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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24
wpiunits/src/main/java/edu/wpi/first/units/Units.java
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@@ -14,13 +14,6 @@ public final class Units {
// Pseudo-classes describing the more common units of measure.
/**
* Used as an internal placeholder value when a specific unit type cannot be determined. Do not
* use this directly.
*/
@SuppressWarnings("rawtypes")
public static final Unit AnonymousBaseUnit = new Dimensionless(1, "<?>", "<?>");
// Distance
/** The base unit of distance. */
public static final Distance Meters = BaseUnits.Distance;
@@ -98,7 +91,8 @@ public final class Units {
* A single turn of an object around an external axis. Numerically equivalent to {@link
* #Rotations}, but may be semantically more expressive in certain scenarios.
*/
public static final Angle Revolutions = new Angle(2 * Math.PI, "Revolution", "R");
public static final Angle Revolutions =
derive(Radians).aggregate(2 * Math.PI).named("Revolution").symbol("R").make();
/**
* A single turn of an object around an external axis. Numerically equivalent to a {@link
@@ -110,7 +104,7 @@ public final class Units {
* A single turn of an object around an internal axis. Numerically equivalent to {@link
* #Revolutions}, but may be semantically more expressive in certain scenarios.
*/
public static final Angle Rotations = new Angle(2 * Math.PI, "Rotation", "R"); // alias revolution
public static final Angle Rotations = derive(Revolutions).named("Rotation").symbol("R").make();
/**
* A single turn of an object around an internal axis. Numerically equivalent to a {@link
@@ -510,16 +504,4 @@ public final class Units {
public static <U extends Unit<U>> UnitBuilder<U> derive(Unit<U> unit) {
return new UnitBuilder<>((U) unit);
}
/**
* Returns an anonymous unit for use when a specific unit type is not known. Do not use this
* directly.
*
* @param <U> the dimension of the desired anonymous unit
* @return the anonymous unit
*/
@SuppressWarnings("unchecked")
public static <U extends Unit<U>> U anonymous() {
return (U) AnonymousBaseUnit;
}
}