[wpiutil] Add serializable marker interfaces (#6060)

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;