[wpimath] Add structured data support for DifferentialDriveWheelPositions (#6412)

wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java

@@ -7,6 +7,8 @@ package edu.wpi.first.math.kinematics;
 import static edu.wpi.first.units.Units.Meters;
 
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.kinematics.proto.DifferentialDriveWheelPositionsProto;
+import edu.wpi.first.math.kinematics.struct.DifferentialDriveWheelPositionsStruct;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
 import java.util.Objects;
@@ -20,6 +22,14 @@ public class DifferentialDriveWheelPositions
   /** Distance measured by the right side. */
   public double rightMeters;
 
+  /** DifferentialDriveWheelPostions struct for serialization. */
+  public static final DifferentialDriveWheelPositionsStruct struct =
+      new DifferentialDriveWheelPositionsStruct();
+
+  /** DifferentialDriveWheelPostions struct for serialization. */
+  public static final DifferentialDriveWheelPositionsProto proto =
+      new DifferentialDriveWheelPositionsProto();
+
   /**
    * Constructs a DifferentialDriveWheelPositions.
    *

wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelPositionsProto.java

@@ -0,0 +1,40 @@
+// 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.
+
+package edu.wpi.first.math.kinematics.proto;
+
+import edu.wpi.first.math.kinematics.DifferentialDriveWheelPositions;
+import edu.wpi.first.math.proto.Kinematics.ProtobufDifferentialDriveWheelPositions;
+import edu.wpi.first.util.protobuf.Protobuf;
+import us.hebi.quickbuf.Descriptors.Descriptor;
+
+public class DifferentialDriveWheelPositionsProto
+    implements Protobuf<DifferentialDriveWheelPositions, ProtobufDifferentialDriveWheelPositions> {
+  @Override
+  public Class<DifferentialDriveWheelPositions> getTypeClass() {
+    return DifferentialDriveWheelPositions.class;
+  }
+
+  @Override
+  public Descriptor getDescriptor() {
+    return ProtobufDifferentialDriveWheelPositions.getDescriptor();
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelPositions createMessage() {
+    return ProtobufDifferentialDriveWheelPositions.newInstance();
+  }
+
+  @Override
+  public DifferentialDriveWheelPositions unpack(ProtobufDifferentialDriveWheelPositions msg) {
+    return new DifferentialDriveWheelPositions(msg.getLeft(), msg.getRight());
+  }
+
+  @Override
+  public void pack(
+      ProtobufDifferentialDriveWheelPositions msg, DifferentialDriveWheelPositions value) {
+    msg.setLeft(value.leftMeters);
+    msg.setRight(value.rightMeters);
+  }
+}

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java

@@ -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.
+
+package edu.wpi.first.math.kinematics.struct;
+
+import edu.wpi.first.math.kinematics.DifferentialDriveWheelPositions;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
+
+public class DifferentialDriveWheelPositionsStruct
+    implements Struct<DifferentialDriveWheelPositions> {
+  @Override
+  public Class<DifferentialDriveWheelPositions> getTypeClass() {
+    return DifferentialDriveWheelPositions.class;
+  }
+
+  @Override
+  public String getTypeString() {
+    return "struct:DifferentialDriveWheelPositions";
+  }
+
+  @Override
+  public int getSize() {
+    return kSizeDouble * 2;
+  }
+
+  @Override
+  public String getSchema() {
+    return "double left;double right";
+  }
+
+  @Override
+  public DifferentialDriveWheelPositions unpack(ByteBuffer bb) {
+    double left = bb.getDouble();
+    double right = bb.getDouble();
+    return new DifferentialDriveWheelPositions(left, right);
+  }
+
+  @Override
+  public void pack(ByteBuffer bb, DifferentialDriveWheelPositions value) {
+    bb.putDouble(value.leftMeters);
+    bb.putDouble(value.rightMeters);
+  }
+}