[wpiutil] Add serializable marker interfaces (#6060)

wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java

@@ -6,12 +6,15 @@ package edu.wpi.first.math.controller;
 
 import edu.wpi.first.math.controller.proto.ArmFeedforwardProto;
 import edu.wpi.first.math.controller.struct.ArmFeedforwardStruct;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 
 /**
  * A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting
  * against the force of gravity on a beam suspended at an angle).
  */
-public class ArmFeedforward {
+public class ArmFeedforward
+    implements ProtobufSerializable<ArmFeedforward>, StructSerializable<ArmFeedforward> {
   public final double ks;
   public final double kg;
   public final double kv;

wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveWheelVoltages.java

@@ -6,9 +6,13 @@ package edu.wpi.first.math.controller;
 
 import edu.wpi.first.math.controller.proto.DifferentialDriveWheelVoltagesProto;
 import edu.wpi.first.math.controller.struct.DifferentialDriveWheelVoltagesStruct;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 
 /** Motor voltages for a differential drive. */
-public class DifferentialDriveWheelVoltages {
+public class DifferentialDriveWheelVoltages
+    implements ProtobufSerializable<DifferentialDriveWheelVoltages>,
+        StructSerializable<DifferentialDriveWheelVoltages> {
   public double left;
   public double right;
 

wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java

@@ -9,12 +9,15 @@ import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.controller.proto.ElevatorFeedforwardProto;
 import edu.wpi.first.math.controller.struct.ElevatorFeedforwardStruct;
 import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 
 /**
  * A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting
  * against the force of gravity).
  */
-public class ElevatorFeedforward {
+public class ElevatorFeedforward
+    implements ProtobufSerializable<ElevatorFeedforward>, StructSerializable<ElevatorFeedforward> {
   public final double ks;
   public final double kg;
   public final double kv;

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java

@@ -15,6 +15,8 @@ import edu.wpi.first.math.geometry.struct.Pose2dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Collections;
 import java.util.Comparator;
 import java.util.List;
@@ -23,7 +25,8 @@ import java.util.Objects;
 /** Represents a 2D pose containing translational and rotational elements. */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Pose2d implements Interpolatable<Pose2d> {
+public class Pose2d
+    implements Interpolatable<Pose2d>, ProtobufSerializable<Pose2d>, StructSerializable<Pose2d> {
   private final Translation2d m_translation;
   private final Rotation2d m_rotation;
 

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java

@@ -12,12 +12,15 @@ import edu.wpi.first.math.WPIMathJNI;
 import edu.wpi.first.math.geometry.proto.Pose3dProto;
 import edu.wpi.first.math.geometry.struct.Pose3dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /** Represents a 3D pose containing translational and rotational elements. */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Pose3d implements Interpolatable<Pose3d> {
+public class Pose3d
+    implements Interpolatable<Pose3d>, ProtobufSerializable<Pose3d>, StructSerializable<Pose3d> {
   private final Translation3d m_translation;
   private final Rotation3d m_rotation;
 

wpimath/src/main/java/edu/wpi/first/math/geometry/Quaternion.java

@@ -13,11 +13,14 @@ import edu.wpi.first.math.Vector;
 import edu.wpi.first.math.geometry.proto.QuaternionProto;
 import edu.wpi.first.math.geometry.struct.QuaternionStruct;
 import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Quaternion {
+public class Quaternion
+    implements ProtobufSerializable<Quaternion>, StructSerializable<Quaternion> {
   // Scalar r in versor form
   private final double m_w;
 

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java

@@ -17,6 +17,8 @@ import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.Angle;
 import edu.wpi.first.units.Measure;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /**
@@ -28,7 +30,10 @@ import java.util.Objects;
  */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Rotation2d implements Interpolatable<Rotation2d> {
+public class Rotation2d
+    implements Interpolatable<Rotation2d>,
+        ProtobufSerializable<Rotation2d>,
+        StructSerializable<Rotation2d> {
   private final double m_value;
   private final double m_cos;
   private final double m_sin;

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java

@@ -18,13 +18,18 @@ import edu.wpi.first.math.geometry.proto.Rotation3dProto;
 import edu.wpi.first.math.geometry.struct.Rotation3dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 import org.ejml.dense.row.factory.DecompositionFactory_DDRM;
 
 /** A rotation in a 3D coordinate frame represented by a quaternion. */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Rotation3d implements Interpolatable<Rotation3d> {
+public class Rotation3d
+    implements Interpolatable<Rotation3d>,
+        ProtobufSerializable<Rotation3d>,
+        StructSerializable<Rotation3d> {
   private final Quaternion m_q;
 
   /** Constructs a Rotation3d with a default angle of 0 degrees. */

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java

@@ -10,10 +10,13 @@ import edu.wpi.first.math.geometry.proto.Transform2dProto;
 import edu.wpi.first.math.geometry.struct.Transform2dStruct;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /** Represents a transformation for a Pose2d in the pose's frame. */
-public class Transform2d {
+public class Transform2d
+    implements ProtobufSerializable<Transform2d>, StructSerializable<Transform2d> {
   private final Translation2d m_translation;
   private final Rotation2d m_rotation;
 

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java

@@ -6,10 +6,13 @@ package edu.wpi.first.math.geometry;
 
 import edu.wpi.first.math.geometry.proto.Transform3dProto;
 import edu.wpi.first.math.geometry.struct.Transform3dStruct;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /** Represents a transformation for a Pose3d in the pose's frame. */
-public class Transform3d {
+public class Transform3d
+    implements ProtobufSerializable<Transform3d>, StructSerializable<Transform3d> {
   private final Translation3d m_translation;
   private final Rotation3d m_rotation;
 

wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java

@@ -16,6 +16,8 @@ import edu.wpi.first.math.geometry.struct.Translation2dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Collections;
 import java.util.Comparator;
 import java.util.List;
@@ -29,7 +31,10 @@ import java.util.Objects;
  */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Translation2d implements Interpolatable<Translation2d> {
+public class Translation2d
+    implements Interpolatable<Translation2d>,
+        ProtobufSerializable<Translation2d>,
+        StructSerializable<Translation2d> {
   private final double m_x;
   private final double m_y;
 

wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java

@@ -16,6 +16,8 @@ import edu.wpi.first.math.geometry.struct.Translation3dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /**
@@ -27,7 +29,10 @@ import java.util.Objects;
  */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Translation3d implements Interpolatable<Translation3d> {
+public class Translation3d
+    implements Interpolatable<Translation3d>,
+        ProtobufSerializable<Translation3d>,
+        StructSerializable<Translation3d> {
   private final double m_x;
   private final double m_y;
   private final double m_z;

wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java

@@ -6,6 +6,8 @@ package edu.wpi.first.math.geometry;
 
 import edu.wpi.first.math.geometry.proto.Twist2dProto;
 import edu.wpi.first.math.geometry.struct.Twist2dStruct;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /**
@@ -14,7 +16,7 @@ import java.util.Objects;
  *
  * <p>A Twist can be used to represent a difference between two poses.
  */
-public class Twist2d {
+public class Twist2d implements ProtobufSerializable<Twist2d>, StructSerializable<Twist2d> {
   /** Linear "dx" component. */
   public double dx;
 

wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java

@@ -6,6 +6,8 @@ package edu.wpi.first.math.geometry;
 
 import edu.wpi.first.math.geometry.proto.Twist3dProto;
 import edu.wpi.first.math.geometry.struct.Twist3dStruct;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /**
@@ -14,7 +16,7 @@ import java.util.Objects;
  *
  * <p>A Twist can be used to represent a difference between two poses.
  */
-public class Twist3d {
+public class Twist3d implements ProtobufSerializable<Twist3d>, StructSerializable<Twist3d> {
   /** Linear "dx" component. */
   public double dx;
 

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

@@ -18,6 +18,8 @@ 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.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 
 /**
  * Represents the speed of a robot chassis. Although this class contains similar members compared to
@@ -28,7 +30,8 @@ import edu.wpi.first.units.Velocity;
  * component because it can never move sideways. Holonomic drivetrains such as swerve and mecanum
  * will often have all three components.
  */
-public class ChassisSpeeds {
+public class ChassisSpeeds
+    implements ProtobufSerializable<ChassisSpeeds>, StructSerializable<ChassisSpeeds> {
   /** Velocity along the x-axis. (Fwd is +) */
   public double vxMetersPerSecond;
 

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

@@ -13,6 +13,8 @@ import edu.wpi.first.math.kinematics.proto.DifferentialDriveKinematicsProto;
 import edu.wpi.first.math.kinematics.struct.DifferentialDriveKinematicsStruct;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 
 /**
  * Helper class that converts a chassis velocity (dx and dtheta components) to left and right wheel
@@ -23,7 +25,9 @@ import edu.wpi.first.units.Measure;
  * chassis speed.
  */
 public class DifferentialDriveKinematics
-    implements Kinematics<DifferentialDriveWheelSpeeds, DifferentialDriveWheelPositions> {
+    implements Kinematics<DifferentialDriveWheelSpeeds, DifferentialDriveWheelPositions>,
+        ProtobufSerializable<DifferentialDriveKinematics>,
+        StructSerializable<DifferentialDriveKinematics> {
   public final double trackWidthMeters;
 
   public static final DifferentialDriveKinematicsProto proto =

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

@@ -11,9 +11,13 @@ import edu.wpi.first.math.kinematics.struct.DifferentialDriveWheelSpeedsStruct;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.Velocity;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 
 /** Represents the wheel speeds for a differential drive drivetrain. */
-public class DifferentialDriveWheelSpeeds {
+public class DifferentialDriveWheelSpeeds
+    implements ProtobufSerializable<DifferentialDriveWheelSpeeds>,
+        StructSerializable<DifferentialDriveWheelSpeeds> {
   /** Speed of the left side of the robot. */
   public double leftMetersPerSecond;
 

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

@@ -10,6 +10,8 @@ import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Twist2d;
 import edu.wpi.first.math.kinematics.proto.MecanumDriveKinematicsProto;
 import edu.wpi.first.math.kinematics.struct.MecanumDriveKinematicsStruct;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import org.ejml.simple.SimpleMatrix;
 
 /**
@@ -33,7 +35,9 @@ import org.ejml.simple.SimpleMatrix;
  * field using encoders and a gyro.
  */
 public class MecanumDriveKinematics
-    implements Kinematics<MecanumDriveWheelSpeeds, MecanumDriveWheelPositions> {
+    implements Kinematics<MecanumDriveWheelSpeeds, MecanumDriveWheelPositions>,
+        ProtobufSerializable<MecanumDriveKinematics>,
+        StructSerializable<MecanumDriveKinematics> {
   private final SimpleMatrix m_inverseKinematics;
   private final SimpleMatrix m_forwardKinematics;
 

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

@@ -11,9 +11,14 @@ import edu.wpi.first.math.kinematics.proto.MecanumDriveWheelPositionsProto;
 import edu.wpi.first.math.kinematics.struct.MecanumDriveWheelPositionsStruct;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
-public class MecanumDriveWheelPositions implements WheelPositions<MecanumDriveWheelPositions> {
+public class MecanumDriveWheelPositions
+    implements WheelPositions<MecanumDriveWheelPositions>,
+        ProtobufSerializable<MecanumDriveWheelPositions>,
+        StructSerializable<MecanumDriveWheelPositions> {
   /** Distance measured by the front left wheel. */
   public double frontLeftMeters;
 

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

@@ -11,8 +11,12 @@ import edu.wpi.first.math.kinematics.struct.MecanumDriveWheelSpeedsStruct;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.Velocity;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 
-public class MecanumDriveWheelSpeeds {
+public class MecanumDriveWheelSpeeds
+    implements ProtobufSerializable<MecanumDriveWheelSpeeds>,
+        StructSerializable<MecanumDriveWheelSpeeds> {
   /** Speed of the front left wheel. */
   public double frontLeftMetersPerSecond;
 

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

@@ -13,11 +13,16 @@ import edu.wpi.first.math.kinematics.proto.SwerveModulePositionProto;
 import edu.wpi.first.math.kinematics.struct.SwerveModulePositionStruct;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /** Represents the state of one swerve module. */
 public class SwerveModulePosition
-    implements Comparable<SwerveModulePosition>, Interpolatable<SwerveModulePosition> {
+    implements Comparable<SwerveModulePosition>,
+        Interpolatable<SwerveModulePosition>,
+        ProtobufSerializable<SwerveModulePosition>,
+        StructSerializable<SwerveModulePosition> {
   /** Distance measured by the wheel of the module. */
   public double distanceMeters;
 

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

@@ -12,10 +12,15 @@ import edu.wpi.first.math.kinematics.struct.SwerveModuleStateStruct;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.Velocity;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /** Represents the state of one swerve module. */
-public class SwerveModuleState implements Comparable<SwerveModuleState> {
+public class SwerveModuleState
+    implements Comparable<SwerveModuleState>,
+        ProtobufSerializable<SwerveModuleState>,
+        StructSerializable<SwerveModuleState> {
   /** Speed of the wheel of the module. */
   public double speedMetersPerSecond;
 

wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java

@@ -7,9 +7,11 @@ package edu.wpi.first.math.system.plant;
 import edu.wpi.first.math.system.plant.proto.DCMotorProto;
 import edu.wpi.first.math.system.plant.struct.DCMotorStruct;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 
 /** Holds the constants for a DC motor. */
-public class DCMotor {
+public class DCMotor implements ProtobufSerializable<DCMotor>, StructSerializable<DCMotor> {
   public final double nominalVoltageVolts;
   public final double stallTorqueNewtonMeters;
   public final double stallCurrentAmps;

wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java

@@ -9,6 +9,7 @@ import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.math.trajectory.proto.TrajectoryProto;
 import edu.wpi.first.math.trajectory.proto.TrajectoryStateProto;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Objects;
@@ -18,7 +19,7 @@ import java.util.stream.Collectors;
  * Represents a time-parameterized trajectory. The trajectory contains of various States that
  * represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
  */
-public class Trajectory {
+public class Trajectory implements ProtobufSerializable<Trajectory> {
   public static final TrajectoryProto proto = new TrajectoryProto();
 
   private final double m_totalTimeSeconds;
@@ -267,7 +268,7 @@ public class Trajectory {
    * Represents a time-parameterized trajectory. The trajectory contains of various States that
    * represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
    */
-  public static class State {
+  public static class State implements ProtobufSerializable<State> {
     public static final TrajectoryStateProto proto = new TrajectoryStateProto();
 
     // The time elapsed since the beginning of the trajectory.