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[wpiunits] Make Java units immutable only (#8115)

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Remove mutable implementations, as systemcore doesn't need mutability to keep performance under control.
This commit is contained in:
Sam Carlberg
2025-07-26 17:48:35 -04:00
committed by GitHub
parent 373eedc77b
commit 8d36df671b
114 changed files with 3449 additions and 5230 deletions
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28
wpiunits/src/generate/main/java/Measure-immutable.java.jinja
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@@ -1,28 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public record Immutable{{ helpers['type_decl'](name) }}(double magnitude, double baseUnitMagnitude, {{ helpers['mtou'](name) }} unit) implements {{ helpers['type_usage'](name) }} {
@Override
public {{ helpers['type_usage'](name) }} copy() {
return this;
}
@Override
public String toString() {
return toShortString();
}
@Override
public boolean equals(Object o) {
return o instanceof Measure<?> m && isEquivalent(m);
}
}

93
wpiunits/src/generate/main/java/Measure-interface.java.jinja → wpiunits/src/generate/main/java/Measure-implementation.java.jinja
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@@ -10,36 +10,45 @@ import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mtou'](name) }}> {
static {{ helpers['generics_list'](name) }} {{ helpers['type_usage'](name) }} ofRelativeUnits(double magnitude, {{ helpers['mtou'](name) }} unit) {
return new Immutable{{ helpers['type_usage'](name) }}(magnitude, unit.toBaseUnits(magnitude), unit);
public record {{ helpers['type_decl'](name) }}(double magnitude, double baseUnitMagnitude, {{ helpers['mtou'](name) }} unit) implements Measure<{{ helpers['mtou'](name) }}> {
/**
* For doing math with measures of a known dimension but an unknown unit. Most users should use
* {@link {{ name }}Unit#of(double)} on a known unit from {@link Units} instead of calling this method.
* @param magnitude the magnitude of the measurement in terms of the given unit
* @param unit the unit of the measurement
* @return a measurement object
*/
public static {{ helpers['generics_list'](name) }} {{ helpers['type_usage'](name) }} ofRelativeUnits(double magnitude, {{ helpers['mtou'](name) }} unit) {
return new {{ helpers['type_usage'](name) }}(magnitude, unit.toBaseUnits(magnitude), unit);
}
static {{ helpers['generics_list'](name) }} {{ helpers['type_usage'](name) }} ofBaseUnits(double baseUnitMagnitude, {{ helpers['mtou'](name) }} unit) {
return new Immutable{{ helpers['type_usage'](name) }}(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
/**
* For doing math with measures of a known dimension but an unknown unit. Most users should use
* {@link {{ name }}Unit#of(double)} on a known unit from {@link Units} instead of calling this method.
* @param magnitude the magnitude of the measurement in terms of the given unit's base unit
* @param unit the unit of the measurement
* @return a measurement object
*/
public static {{ helpers['generics_list'](name) }} {{ helpers['type_usage'](name) }} ofBaseUnits(double baseUnitMagnitude, {{ helpers['mtou'](name) }} unit) {
return new {{ helpers['type_usage'](name) }}(unit.fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, unit);
}
@Override
{{ helpers['type_usage'](name) }} copy();
public {{ helpers['mtou'](name) }} baseUnit() { return ({{ helpers['mtou'](name) }}) unit().getBaseUnit(); }
@Override
default Mut{{ helpers['type_usage'](name) }} mutableCopy() {
return new Mut{{ helpers['type_usage'](name) }}(magnitude(), baseUnitMagnitude(), unit());
}
@Override
{{ helpers['mtou'](name) }} unit();
@Override
default {{ helpers['mtou'](name) }} baseUnit() { return ({{ helpers['mtou'](name) }}) unit().getBaseUnit(); }
@Override
default double in({{ helpers['mtou'](name) }} unit) {
public double in({{ helpers['mtou'](name) }} unit) {
return unit.fromBaseUnits(baseUnitMagnitude());
}
@Override
default {{ helpers['type_usage'](name) }} unaryMinus() {
@SuppressWarnings("rawtypes")
public boolean equals(Object object) {
return object instanceof {{ name }} m && isEquivalent(m);
}
@Override
public {{ helpers['type_usage'](name) }} unaryMinus() {
return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(0 - baseUnitMagnitude());
}
@@ -51,27 +60,27 @@ public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mt
@Override
@Deprecated(since = "2025", forRemoval = true)
@SuppressWarnings({"deprecation", "removal"})
default {{ helpers['type_usage'](name) }} negate() {
public {{ helpers['type_usage'](name) }} negate() {
return ({{ helpers['type_usage'](name) }}) unaryMinus();
}
@Override
default {{ helpers['type_usage'](name) }} plus(Measure<? extends {{ helpers['mtou'](name) }}> other) {
public {{ helpers['type_usage'](name) }} plus(Measure<? extends {{ helpers['mtou'](name) }}> other) {
return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() + other.baseUnitMagnitude());
}
@Override
default {{ helpers['type_usage'](name) }} minus(Measure<? extends {{ helpers['mtou'](name) }}> other) {
public {{ helpers['type_usage'](name) }} minus(Measure<? extends {{ helpers['mtou'](name) }}> other) {
return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() - other.baseUnitMagnitude());
}
@Override
default {{ helpers['type_usage'](name) }} times(double multiplier) {
public {{ helpers['type_usage'](name) }} times(double multiplier) {
return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() * multiplier);
}
@Override
default {{ helpers['type_usage'](name) }} div(double divisor) {
public {{ helpers['type_usage'](name) }} div(double divisor) {
return ({{ helpers['type_usage'](name) }}) unit().ofBaseUnits(baseUnitMagnitude() / divisor);
}
@@ -83,13 +92,13 @@ public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mt
@Override
@Deprecated(since = "2025", forRemoval = true)
@SuppressWarnings({"deprecation", "removal"})
default {{ helpers['type_usage'](name) }} divide(double divisor) {
public {{ helpers['type_usage'](name) }} divide(double divisor) {
return ({{ helpers['type_usage'](name) }}) div(divisor);
}
{% for unit in math_units -%}
{% if unit == "Dimensionless" %}
@Override
default {{ helpers['type_usage'](name) }} div({{ unit }} divisor) {
public {{ helpers['type_usage'](name) }} div({{ unit }} divisor) {
return ({{ helpers['type_usage'](name) }}) {{ config[name]['base_unit'] }}.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@@ -101,12 +110,12 @@ public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mt
@Override
@Deprecated(since = "2025", forRemoval = true)
@SuppressWarnings({"deprecation", "removal"})
default {{ helpers['type_usage'](name) }} divide({{ unit }} divisor) {
public {{ helpers['type_usage'](name) }} divide({{ unit }} divisor) {
return ({{ helpers['type_usage'](name) }}) div(divisor);
}
@Override
default {{ helpers['type_usage'](name) }} times({{ unit }} multiplier) {
public {{ helpers['type_usage'](name) }} times({{ unit }} multiplier) {
return ({{ helpers['type_usage'](name) }}) {{ config[name]['base_unit'] }}.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
{% else %}
@@ -115,19 +124,19 @@ public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mt
{{ helpers['indent'](config[name]['multiply'][unit]['implementation'], 2) }}
{%- else %}
@Override
default {{ config[name]['multiply'][unit] }} times({{ unit }} multiplier) {
public {{ config[name]['multiply'][unit] }} times({{ unit }} multiplier) {
return {{ config[config[name]['multiply'][unit]]['base_unit'] }}.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
}
{%- endif %}
{% else %}
@Override
default Mult<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> times({{ unit }} multiplier) {
public Mult<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> times({{ unit }} multiplier) {
return (Mult<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}>) Measure.super.times(multiplier);
}
{% endif -%}
{% if unit in config[name]['divide'] %}
@Override
default {{ config[name]['divide'][unit] }} div({{ unit }} divisor) {
public {{ config[name]['divide'][unit] }} div({{ unit }} divisor) {
return {{ config[config[name]['divide'][unit]]['base_unit'] }}.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@@ -139,12 +148,12 @@ public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mt
@Override
@Deprecated(since = "2025", forRemoval = true)
@SuppressWarnings({"deprecation", "removal"})
default {{ config[name]['divide'][unit] }} divide({{ unit }} divisor) {
public {{ config[name]['divide'][unit] }} divide({{ unit }} divisor) {
return div(divisor);
}
@Override
default {{ config[name]['divide'][unit] }} per({{ helpers['mtou'](unit) }} divisorUnit) {
public {{ config[name]['divide'][unit] }} per({{ helpers['mtou'](unit) }} divisorUnit) {
{%- if unit == "Mult<?, ?>" or unit == "Per<?, ?>" %}
return div(divisorUnit.ofNative(1));
{%- else %}
@@ -153,7 +162,7 @@ public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mt
}
{% elif unit == "Time" %}
@Override
default Velocity<{{ helpers['mtou'](name) }}> div({{ unit }} divisor) {
public Velocity<{{ helpers['mtou'](name) }}> div({{ unit }} divisor) {
return VelocityUnit.combine(unit(), divisor.unit()).ofBaseUnits(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@@ -165,12 +174,12 @@ public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mt
@Deprecated(since = "2025", forRemoval = true)
@SuppressWarnings({"deprecation", "removal"})
@Override
default Velocity<{{ helpers['mtou'](name) }}> divide({{ unit }} divisor) {
public Velocity<{{ helpers['mtou'](name) }}> divide({{ unit }} divisor) {
return div(divisor);
}
@Override
default Velocity<{{ helpers['mtou'](name) }}> per({{ helpers['mtou'](unit) }} divisorUnit) {
public Velocity<{{ helpers['mtou'](name) }}> per({{ helpers['mtou'](unit) }} divisorUnit) {
{%- if unit == "Mult<?, ?>" or unit == "Per<?, ?>" %}
return div(divisorUnit.ofNative(1));
{%- else %}
@@ -179,7 +188,7 @@ public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mt
}
{% elif unit == name %}
@Override
default Dimensionless div({{ unit }} divisor) {
public Dimensionless div({{ unit }} divisor) {
return Value.of(baseUnitMagnitude() / divisor.baseUnitMagnitude());
}
@@ -191,17 +200,17 @@ public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mt
@Deprecated(since = "2025", forRemoval = true)
@SuppressWarnings({"deprecation", "removal"})
@Override
default Dimensionless divide({{ unit }} divisor) {
public Dimensionless divide({{ unit }} divisor) {
return div(divisor);
}
@Override
default Dimensionless per({{ helpers['mtou'](unit) }} divisorUnit) {
public Dimensionless per({{ helpers['mtou'](unit) }} divisorUnit) {
return div(divisorUnit.one());
}
{% else %}
@Override
default Per<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> div({{ unit }} divisor) {
public Per<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> div({{ unit }} divisor) {
return (Per<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}>) Measure.super.div(divisor);
}
@@ -213,12 +222,12 @@ public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mt
@Deprecated(since = "2025", forRemoval = true)
@SuppressWarnings({"deprecation", "removal"})
@Override
default Per<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> divide({{ unit }} divisor) {
public Per<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> divide({{ unit }} divisor) {
return div(divisor);
}
@Override
default Per<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> per({{ helpers['mtou'](unit) }} divisorUnit) {
public Per<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> per({{ helpers['mtou'](unit) }} divisorUnit) {
{%- if unit == "Mult<?, ?>" or unit == "Per<?, ?>" %}
return div(divisorUnit.ofNative(1));
{%- else %}

25
wpiunits/src/generate/main/java/Measure-mutable.java.jinja
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@@ -1,25 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpiunits/generate_units.py. DO NOT MODIFY
package edu.wpi.first.units.measure;
import static edu.wpi.first.units.Units.*;
import edu.wpi.first.units.*;
import edu.wpi.first.units.mutable.MutableMeasureBase;
@SuppressWarnings({"unchecked", "cast", "checkstyle", "PMD"})
public final class Mut{{ helpers['type_decl'](name) }}
extends MutableMeasureBase<{{ helpers['mtou'](name) }}, {{ helpers['type_usage'](name) }}, Mut{{ helpers['type_usage'](name) }}>
implements {{ helpers['type_usage'](name) }} {
public Mut{{ name }}(double magnitude, double baseUnitMagnitude, {{ helpers['mtou'](name) }} unit) {
super(magnitude, baseUnitMagnitude, unit);
}
@Override
public {{ helpers['type_usage'](name) }} copy() {
return new Immutable{{ helpers['type_usage'](name) }}(magnitude(), baseUnitMagnitude(), unit());
}
}