Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-26 01:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpiunits] Java units API rewrite (#6958)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

14
wpiunits/src/main/java/edu/wpi/first/units/UnitBuilder.java
View File

@@ -18,7 +18,7 @@ import java.util.Objects;
*
* @param <U> the type of the unit
*/
public final class UnitBuilder<U extends Unit<U>> {
public final class UnitBuilder<U extends Unit> {
private final U m_base;
private UnaryFunction m_fromBase = UnaryFunction.IDENTITY;
private UnaryFunction m_toBase = UnaryFunction.IDENTITY;
@@ -191,7 +191,7 @@ public final class UnitBuilder<U extends Unit<U>> {
* @param <U> the type of the unit
*/
@FunctionalInterface
public interface UnitConstructorFunction<U extends Unit<U>> {
public interface UnitConstructorFunction<U extends Unit> {
/**
* Creates a new unit instance based on its relation to the base unit of measure.
*
@@ -220,6 +220,7 @@ public final class UnitBuilder<U extends Unit<U>> {
* @return the new derived unit
* @throws NullPointerException if the unit conversions, unit name, or unit symbol were not set
*/
@SuppressWarnings("unchecked")
public U make(UnitConstructorFunction<U> constructor) {
Objects.requireNonNull(m_fromBase, "fromBase function was not set");
Objects.requireNonNull(m_toBase, "toBase function was not set");
@@ -227,7 +228,7 @@ public final class UnitBuilder<U extends Unit<U>> {
Objects.requireNonNull(m_symbol, "new unit symbol was not set");
return constructor.create(
m_base.getBaseUnit(),
(U) m_base.getBaseUnit(),
m_toBase.pipeTo(m_base.getConverterToBase()),
m_base.getConverterFromBase().pipeTo(m_fromBase),
m_name,
@@ -242,7 +243,6 @@ public final class UnitBuilder<U extends Unit<U>> {
* @throws RuntimeException if the base unit does not define a constructor accepting the
* conversion functions, unit name, and unit symbol - in that order
*/
@SuppressWarnings({"PMD.AvoidAccessibilityAlteration", "unchecked"})
public U make() {
return make(
(baseUnit, toBaseUnits, fromBaseUnits, name, symbol) -> {
@@ -251,7 +251,7 @@ public final class UnitBuilder<U extends Unit<U>> {
try {
var ctor = getConstructor(baseUnit);
return (U) ctor.newInstance(baseUnit, toBaseUnits, fromBaseUnits, name, symbol);
return ctor.newInstance(baseUnit, toBaseUnits, fromBaseUnits, name, symbol);
} catch (InstantiationException e) {
throw new RuntimeException("Could not instantiate class " + baseClass.getName(), e);
} catch (IllegalAccessException e) {
@@ -272,7 +272,7 @@ public final class UnitBuilder<U extends Unit<U>> {
}
@SuppressWarnings({"unchecked", "PMD.AvoidAccessibilityAlteration"})
private static <U extends Unit<U>> Constructor<? extends Unit<U>> getConstructor(U baseUnit)
private static <U extends Unit> Constructor<? extends U> getConstructor(U baseUnit)
throws NoSuchMethodException {
var baseClass = baseUnit.getClass();
@@ -288,6 +288,6 @@ public final class UnitBuilder<U extends Unit<U>> {
// and protected constructors
ctor.setAccessible(true);
return (Constructor<? extends Unit<U>>) ctor;
return (Constructor<? extends U>) ctor;
}
}