mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
[wpimath] Add structured data support for DifferentialDriveWheelPositions (#6412)
This commit is contained in:
DeltaDizzy
@@ -19,61 +19,65 @@ import us.hebi.quickbuf.RepeatedByte;
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import us.hebi.quickbuf.RepeatedMessage;
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public final class Kinematics {
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private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(3208,
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private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(3427,
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||||
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|
||||
|
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static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("kinematics.proto", "wpi.proto", descriptorData, Geometry2D.getDescriptor());
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@@ -83,19 +87,21 @@ public final class Kinematics {
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static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveWheelSpeeds_descriptor = descriptor.internalContainedType(200, 80, "ProtobufDifferentialDriveWheelSpeeds", "wpi.proto.ProtobufDifferentialDriveWheelSpeeds");
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||||
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static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveKinematics_descriptor = descriptor.internalContainedType(283, 292, "ProtobufMecanumDriveKinematics", "wpi.proto.ProtobufMecanumDriveKinematics");
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||||
static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveWheelPositions_descriptor = descriptor.internalContainedType(282, 83, "ProtobufDifferentialDriveWheelPositions", "wpi.proto.ProtobufDifferentialDriveWheelPositions");
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||||
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static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveMotorVoltages_descriptor = descriptor.internalContainedType(578, 159, "ProtobufMecanumDriveMotorVoltages", "wpi.proto.ProtobufMecanumDriveMotorVoltages");
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||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveKinematics_descriptor = descriptor.internalContainedType(368, 292, "ProtobufMecanumDriveKinematics", "wpi.proto.ProtobufMecanumDriveKinematics");
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||||
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||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelPositions_descriptor = descriptor.internalContainedType(740, 160, "ProtobufMecanumDriveWheelPositions", "wpi.proto.ProtobufMecanumDriveWheelPositions");
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||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveMotorVoltages_descriptor = descriptor.internalContainedType(663, 159, "ProtobufMecanumDriveMotorVoltages", "wpi.proto.ProtobufMecanumDriveMotorVoltages");
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||||
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||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelSpeeds_descriptor = descriptor.internalContainedType(903, 157, "ProtobufMecanumDriveWheelSpeeds", "wpi.proto.ProtobufMecanumDriveWheelSpeeds");
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||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelPositions_descriptor = descriptor.internalContainedType(825, 160, "ProtobufMecanumDriveWheelPositions", "wpi.proto.ProtobufMecanumDriveWheelPositions");
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||||
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveDriveKinematics_descriptor = descriptor.internalContainedType(1062, 91, "ProtobufSwerveDriveKinematics", "wpi.proto.ProtobufSwerveDriveKinematics");
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelSpeeds_descriptor = descriptor.internalContainedType(988, 157, "ProtobufMecanumDriveWheelSpeeds", "wpi.proto.ProtobufMecanumDriveWheelSpeeds");
|
||||
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModulePosition_descriptor = descriptor.internalContainedType(1155, 111, "ProtobufSwerveModulePosition", "wpi.proto.ProtobufSwerveModulePosition");
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveDriveKinematics_descriptor = descriptor.internalContainedType(1147, 91, "ProtobufSwerveDriveKinematics", "wpi.proto.ProtobufSwerveDriveKinematics");
|
||||
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModuleState_descriptor = descriptor.internalContainedType(1268, 102, "ProtobufSwerveModuleState", "wpi.proto.ProtobufSwerveModuleState");
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModulePosition_descriptor = descriptor.internalContainedType(1240, 111, "ProtobufSwerveModulePosition", "wpi.proto.ProtobufSwerveModulePosition");
|
||||
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModuleState_descriptor = descriptor.internalContainedType(1353, 102, "ProtobufSwerveModuleState", "wpi.proto.ProtobufSwerveModuleState");
|
||||
|
||||
/**
|
||||
* @return this proto file's descriptor.
|
||||
@@ -1113,6 +1119,344 @@ public final class Kinematics {
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Protobuf type {@code ProtobufDifferentialDriveWheelPositions}
|
||||
*/
|
||||
public static final class ProtobufDifferentialDriveWheelPositions extends ProtoMessage<ProtobufDifferentialDriveWheelPositions> implements Cloneable {
|
||||
private static final long serialVersionUID = 0L;
|
||||
|
||||
/**
|
||||
* <code>optional double left = 1;</code>
|
||||
*/
|
||||
private double left;
|
||||
|
||||
/**
|
||||
* <code>optional double right = 2;</code>
|
||||
*/
|
||||
private double right;
|
||||
|
||||
private ProtobufDifferentialDriveWheelPositions() {
|
||||
}
|
||||
|
||||
/**
|
||||
* @return a new empty instance of {@code ProtobufDifferentialDriveWheelPositions}
|
||||
*/
|
||||
public static ProtobufDifferentialDriveWheelPositions newInstance() {
|
||||
return new ProtobufDifferentialDriveWheelPositions();
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double left = 1;</code>
|
||||
* @return whether the left field is set
|
||||
*/
|
||||
public boolean hasLeft() {
|
||||
return (bitField0_ & 0x00000001) != 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double left = 1;</code>
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufDifferentialDriveWheelPositions clearLeft() {
|
||||
bitField0_ &= ~0x00000001;
|
||||
left = 0D;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double left = 1;</code>
|
||||
* @return the left
|
||||
*/
|
||||
public double getLeft() {
|
||||
return left;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double left = 1;</code>
|
||||
* @param value the left to set
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufDifferentialDriveWheelPositions setLeft(final double value) {
|
||||
bitField0_ |= 0x00000001;
|
||||
left = value;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double right = 2;</code>
|
||||
* @return whether the right field is set
|
||||
*/
|
||||
public boolean hasRight() {
|
||||
return (bitField0_ & 0x00000002) != 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double right = 2;</code>
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufDifferentialDriveWheelPositions clearRight() {
|
||||
bitField0_ &= ~0x00000002;
|
||||
right = 0D;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double right = 2;</code>
|
||||
* @return the right
|
||||
*/
|
||||
public double getRight() {
|
||||
return right;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double right = 2;</code>
|
||||
* @param value the right to set
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufDifferentialDriveWheelPositions setRight(final double value) {
|
||||
bitField0_ |= 0x00000002;
|
||||
right = value;
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufDifferentialDriveWheelPositions copyFrom(
|
||||
final ProtobufDifferentialDriveWheelPositions other) {
|
||||
cachedSize = other.cachedSize;
|
||||
if ((bitField0_ | other.bitField0_) != 0) {
|
||||
bitField0_ = other.bitField0_;
|
||||
left = other.left;
|
||||
right = other.right;
|
||||
}
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufDifferentialDriveWheelPositions mergeFrom(
|
||||
final ProtobufDifferentialDriveWheelPositions other) {
|
||||
if (other.isEmpty()) {
|
||||
return this;
|
||||
}
|
||||
cachedSize = -1;
|
||||
if (other.hasLeft()) {
|
||||
setLeft(other.left);
|
||||
}
|
||||
if (other.hasRight()) {
|
||||
setRight(other.right);
|
||||
}
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufDifferentialDriveWheelPositions clear() {
|
||||
if (isEmpty()) {
|
||||
return this;
|
||||
}
|
||||
cachedSize = -1;
|
||||
bitField0_ = 0;
|
||||
left = 0D;
|
||||
right = 0D;
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufDifferentialDriveWheelPositions clearQuick() {
|
||||
if (isEmpty()) {
|
||||
return this;
|
||||
}
|
||||
cachedSize = -1;
|
||||
bitField0_ = 0;
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean equals(Object o) {
|
||||
if (o == this) {
|
||||
return true;
|
||||
}
|
||||
if (!(o instanceof ProtobufDifferentialDriveWheelPositions)) {
|
||||
return false;
|
||||
}
|
||||
ProtobufDifferentialDriveWheelPositions other = (ProtobufDifferentialDriveWheelPositions) o;
|
||||
return bitField0_ == other.bitField0_
|
||||
&& (!hasLeft() || ProtoUtil.isEqual(left, other.left))
|
||||
&& (!hasRight() || ProtoUtil.isEqual(right, other.right));
|
||||
}
|
||||
|
||||
@Override
|
||||
public void writeTo(final ProtoSink output) throws IOException {
|
||||
if ((bitField0_ & 0x00000001) != 0) {
|
||||
output.writeRawByte((byte) 9);
|
||||
output.writeDoubleNoTag(left);
|
||||
}
|
||||
if ((bitField0_ & 0x00000002) != 0) {
|
||||
output.writeRawByte((byte) 17);
|
||||
output.writeDoubleNoTag(right);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
protected int computeSerializedSize() {
|
||||
int size = 0;
|
||||
if ((bitField0_ & 0x00000001) != 0) {
|
||||
size += 9;
|
||||
}
|
||||
if ((bitField0_ & 0x00000002) != 0) {
|
||||
size += 9;
|
||||
}
|
||||
return size;
|
||||
}
|
||||
|
||||
@Override
|
||||
@SuppressWarnings("fallthrough")
|
||||
public ProtobufDifferentialDriveWheelPositions mergeFrom(final ProtoSource input) throws
|
||||
IOException {
|
||||
// Enabled Fall-Through Optimization (QuickBuffers)
|
||||
int tag = input.readTag();
|
||||
while (true) {
|
||||
switch (tag) {
|
||||
case 9: {
|
||||
// left
|
||||
left = input.readDouble();
|
||||
bitField0_ |= 0x00000001;
|
||||
tag = input.readTag();
|
||||
if (tag != 17) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
case 17: {
|
||||
// right
|
||||
right = input.readDouble();
|
||||
bitField0_ |= 0x00000002;
|
||||
tag = input.readTag();
|
||||
if (tag != 0) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
case 0: {
|
||||
return this;
|
||||
}
|
||||
default: {
|
||||
if (!input.skipField(tag)) {
|
||||
return this;
|
||||
}
|
||||
tag = input.readTag();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void writeTo(final JsonSink output) throws IOException {
|
||||
output.beginObject();
|
||||
if ((bitField0_ & 0x00000001) != 0) {
|
||||
output.writeDouble(FieldNames.left, left);
|
||||
}
|
||||
if ((bitField0_ & 0x00000002) != 0) {
|
||||
output.writeDouble(FieldNames.right, right);
|
||||
}
|
||||
output.endObject();
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufDifferentialDriveWheelPositions mergeFrom(final JsonSource input) throws
|
||||
IOException {
|
||||
if (!input.beginObject()) {
|
||||
return this;
|
||||
}
|
||||
while (!input.isAtEnd()) {
|
||||
switch (input.readFieldHash()) {
|
||||
case 3317767: {
|
||||
if (input.isAtField(FieldNames.left)) {
|
||||
if (!input.trySkipNullValue()) {
|
||||
left = input.readDouble();
|
||||
bitField0_ |= 0x00000001;
|
||||
}
|
||||
} else {
|
||||
input.skipUnknownField();
|
||||
}
|
||||
break;
|
||||
}
|
||||
case 108511772: {
|
||||
if (input.isAtField(FieldNames.right)) {
|
||||
if (!input.trySkipNullValue()) {
|
||||
right = input.readDouble();
|
||||
bitField0_ |= 0x00000002;
|
||||
}
|
||||
} else {
|
||||
input.skipUnknownField();
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
input.skipUnknownField();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
input.endObject();
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufDifferentialDriveWheelPositions clone() {
|
||||
return new ProtobufDifferentialDriveWheelPositions().copyFrom(this);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isEmpty() {
|
||||
return ((bitField0_) == 0);
|
||||
}
|
||||
|
||||
public static ProtobufDifferentialDriveWheelPositions parseFrom(final byte[] data) throws
|
||||
InvalidProtocolBufferException {
|
||||
return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelPositions(), data).checkInitialized();
|
||||
}
|
||||
|
||||
public static ProtobufDifferentialDriveWheelPositions parseFrom(final ProtoSource input) throws
|
||||
IOException {
|
||||
return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelPositions(), input).checkInitialized();
|
||||
}
|
||||
|
||||
public static ProtobufDifferentialDriveWheelPositions parseFrom(final JsonSource input) throws
|
||||
IOException {
|
||||
return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelPositions(), input).checkInitialized();
|
||||
}
|
||||
|
||||
/**
|
||||
* @return factory for creating ProtobufDifferentialDriveWheelPositions messages
|
||||
*/
|
||||
public static MessageFactory<ProtobufDifferentialDriveWheelPositions> getFactory() {
|
||||
return ProtobufDifferentialDriveWheelPositionsFactory.INSTANCE;
|
||||
}
|
||||
|
||||
/**
|
||||
* @return this type's descriptor.
|
||||
*/
|
||||
public static Descriptors.Descriptor getDescriptor() {
|
||||
return Kinematics.wpi_proto_ProtobufDifferentialDriveWheelPositions_descriptor;
|
||||
}
|
||||
|
||||
private enum ProtobufDifferentialDriveWheelPositionsFactory implements MessageFactory<ProtobufDifferentialDriveWheelPositions> {
|
||||
INSTANCE;
|
||||
|
||||
@Override
|
||||
public ProtobufDifferentialDriveWheelPositions create() {
|
||||
return ProtobufDifferentialDriveWheelPositions.newInstance();
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Contains name constants used for serializing JSON
|
||||
*/
|
||||
static class FieldNames {
|
||||
static final FieldName left = FieldName.forField("left");
|
||||
|
||||
static final FieldName right = FieldName.forField("right");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Protobuf type {@code ProtobufMecanumDriveKinematics}
|
||||
*/
|
||||
|
||||
Reference in New Issue
Block a user