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

wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp

@@ -0,0 +1,34 @@
+// 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.
+
+#include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
+
+#include "kinematics.pb.h"
+
+google::protobuf::Message* wpi::Protobuf<
+    frc::DifferentialDriveWheelPositions>::New(google::protobuf::Arena* arena) {
+  return google::protobuf::Arena::CreateMessage<
+      wpi::proto::ProtobufDifferentialDriveWheelPositions>(arena);
+}
+
+frc::DifferentialDriveWheelPositions
+wpi::Protobuf<frc::DifferentialDriveWheelPositions>::Unpack(
+    const google::protobuf::Message& msg) {
+  auto m =
+      static_cast<const wpi::proto::ProtobufDifferentialDriveWheelPositions*>(
+          &msg);
+  return frc::DifferentialDriveWheelPositions{
+      units::meter_t{m->left()},
+      units::meter_t{m->right()},
+  };
+}
+
+void wpi::Protobuf<frc::DifferentialDriveWheelPositions>::Pack(
+    google::protobuf::Message* msg,
+    const frc::DifferentialDriveWheelPositions& value) {
+  auto m =
+      static_cast<wpi::proto::ProtobufDifferentialDriveWheelPositions*>(msg);
+  m->set_left(value.left.value());
+  m->set_right(value.right.value());
+}

wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp

@@ -0,0 +1,26 @@
+// 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.
+
+#include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"
+
+namespace {
+constexpr size_t kLeftOff = 0;
+constexpr size_t kRightOff = kLeftOff + 8;
+}  // namespace
+
+using StructType = wpi::Struct<frc::DifferentialDriveWheelPositions>;
+
+frc::DifferentialDriveWheelPositions StructType::Unpack(
+    std::span<const uint8_t> data) {
+  return frc::DifferentialDriveWheelPositions{
+      units::meter_t{wpi::UnpackStruct<double, kLeftOff>(data)},
+      units::meter_t{wpi::UnpackStruct<double, kRightOff>(data)},
+  };
+}
+
+void StructType::Pack(std::span<uint8_t> data,
+                      const frc::DifferentialDriveWheelPositions& value) {
+  wpi::PackStruct<kLeftOff>(data, value.left.value());
+  wpi::PackStruct<kRightOff>(data, value.right.value());
+}

wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h

@@ -49,3 +49,6 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
   }
 };
 }  // namespace frc
+
+#include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
+#include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"

wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h

@@ -0,0 +1,19 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/protobuf/Protobuf.h>
+
+#include "frc/kinematics/DifferentialDriveWheelPositions.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelPositions> {
+  static google::protobuf::Message* New(google::protobuf::Arena* arena);
+  static frc::DifferentialDriveWheelPositions Unpack(
+      const google::protobuf::Message& msg);
+  static void Pack(google::protobuf::Message* msg,
+                   const frc::DifferentialDriveWheelPositions& value);
+};

wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h

@@ -0,0 +1,28 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/kinematics/DifferentialDriveWheelPositions.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelPositions> {
+  static constexpr std::string_view GetTypeString() {
+    return "struct:DifferentialDriveWheelPositions";
+  }
+  static constexpr size_t GetSize() { return 16; }
+  static constexpr std::string_view GetSchema() {
+    return "double left;double right";
+  }
+
+  static frc::DifferentialDriveWheelPositions Unpack(
+      std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data,
+                   const frc::DifferentialDriveWheelPositions& value);
+};
+
+static_assert(wpi::StructSerializable<frc::DifferentialDriveWheelPositions>);