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[wpiunits] Java units API rewrite (#6958)

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Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>.

Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC).

This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
This commit is contained in:
Sam Carlberg
2024-09-07 13:59:29 -04:00
committed by GitHub
parent 496e7c1bba
commit a9b885070e
178 changed files with 14750 additions and 2158 deletions
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37
wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
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@@ -10,12 +10,12 @@ import static edu.wpi.first.units.Units.Microseconds;
import static edu.wpi.first.units.Units.Value;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.units.Dimensionless;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Time;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.collections.LongToObjectHashMap;
import edu.wpi.first.units.measure.Dimensionless;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.Frequency;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.util.Color;
import java.util.Map;
@@ -99,9 +99,9 @@ public interface LEDPattern {
*
* <p>This method is intentionally designed to use separate objects for reading and writing data.
* By splitting them up, we can easily modify the behavior of some base pattern to make it {@link
* #scrollAtRelativeSpeed(Measure) scroll}, {@link #blink(Measure, Measure) blink}, or {@link
* #breathe(Measure) breathe} by intercepting the data writes to transform their behavior to
* whatever we like.
* #scrollAtRelativeSpeed(Frequency) scroll}, {@link #blink(Time, Time) blink}, or {@link
* #breathe(Time) breathe} by intercepting the data writes to transform their behavior to whatever
* we like.
*
* @param reader data reader for accessing buffer length and current colors
* @param writer data writer for setting new LED colors on the buffer
@@ -186,8 +186,8 @@ public interface LEDPattern {
* scroll along the length of LEDs and return back to the starting position
* @return the scrolling pattern
*/
default LEDPattern scrollAtRelativeSpeed(Measure<Velocity<Dimensionless>> velocity) {
final double periodMicros = 1 / velocity.in(Value.per(Microsecond));
default LEDPattern scrollAtRelativeSpeed(Frequency velocity) {
final double periodMicros = velocity.asPeriod().in(Microseconds);
return (reader, writer) -> {
int bufLen = reader.getLength();
@@ -217,7 +217,7 @@ public interface LEDPattern {
*
* <pre>
* // LEDs per meter, a known value taken from the spec sheet of our particular LED strip
* Measure&lt;Distance&gt; LED_SPACING = Meters.of(1.0 / 60);
* Distance LED_SPACING = Meters.of(1.0 / 60);
*
* LEDPattern rainbow = LEDPattern.rainbow();
* LEDPattern scrollingRainbow =
@@ -232,8 +232,7 @@ public interface LEDPattern {
* @param ledSpacing the distance between adjacent LEDs on the physical LED strip
* @return the scrolling pattern
*/
default LEDPattern scrollAtAbsoluteSpeed(
Measure<Velocity<Distance>> velocity, Measure<Distance> ledSpacing) {
default LEDPattern scrollAtAbsoluteSpeed(LinearVelocity velocity, Distance ledSpacing) {
// eg velocity = 10 m/s, spacing = 0.01m
// meters per micro = 1e-5 m/us
// micros per LED = 1e-2 m / (1e-5 m/us) = 1e-3 us
@@ -267,7 +266,7 @@ public interface LEDPattern {
* @param offTime how long the pattern should be turned off for, per cycle
* @return the blinking pattern
*/
default LEDPattern blink(Measure<Time> onTime, Measure<Time> offTime) {
default LEDPattern blink(Time onTime, Time offTime) {
final long totalTimeMicros = (long) (onTime.in(Microseconds) + offTime.in(Microseconds));
final long onTimeMicros = (long) onTime.in(Microseconds);
@@ -281,13 +280,13 @@ public interface LEDPattern {
}
/**
* Like {@link #blink(Measure, Measure) blink(onTime, offTime)}, but where the "off" time is
* exactly equal to the "on" time.
* Like {@link #blink(Time, Time) blink(onTime, offTime)}, but where the "off" time is exactly
* equal to the "on" time.
*
* @param onTime how long the pattern should play for (and be turned off for), per cycle
* @return the blinking pattern
*/
default LEDPattern blink(Measure<Time> onTime) {
default LEDPattern blink(Time onTime) {
return blink(onTime, onTime);
}
@@ -316,7 +315,7 @@ public interface LEDPattern {
* @param period how fast the breathing pattern should complete a single cycle
* @return the breathing pattern
*/
default LEDPattern breathe(Measure<Time> period) {
default LEDPattern breathe(Time period) {
final long periodMicros = (long) period.in(Microseconds);
return (reader, writer) -> {
@@ -444,7 +443,7 @@ public interface LEDPattern {
* @param relativeBrightness the multiplier to apply to all channels to modify brightness
* @return the input pattern, displayed at
*/
default LEDPattern atBrightness(Measure<Dimensionless> relativeBrightness) {
default LEDPattern atBrightness(Dimensionless relativeBrightness) {
double multiplier = relativeBrightness.in(Value);
return (reader, writer) -> {