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[wpimath] Add protobuf/struct for trivial types (#5935)

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This implements de/serialization for the types that aren't templated (SwerveDriveKinematics) in C++ or where there is no trivial way to go round-trip (Splines) for the messages.
This commit is contained in:
PJ Reiniger
2023-11-21 13:14:06 -05:00
committed by GitHub
parent 35744a036e
commit bb05e20247
158 changed files with 4266 additions and 4 deletions
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6
wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
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@@ -4,6 +4,9 @@
package edu.wpi.first.math.controller;
import edu.wpi.first.math.controller.proto.ArmFeedforwardProto;
import edu.wpi.first.math.controller.struct.ArmFeedforwardStruct;
/**
* 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).
@@ -14,6 +17,9 @@ public class ArmFeedforward {
public final double kv;
public final double ka;
public static final ArmFeedforwardProto proto = new ArmFeedforwardProto();
public static final ArmFeedforwardStruct struct = new ArmFeedforwardStruct();
/**
* Creates a new ArmFeedforward with the specified gains. Units of the gain values will dictate
* units of the computed feedforward.

8
wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveWheelVoltages.java
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@@ -4,11 +4,19 @@
package edu.wpi.first.math.controller;
import edu.wpi.first.math.controller.proto.DifferentialDriveWheelVoltagesProto;
import edu.wpi.first.math.controller.struct.DifferentialDriveWheelVoltagesStruct;
/** Motor voltages for a differential drive. */
public class DifferentialDriveWheelVoltages {
public double left;
public double right;
public static final DifferentialDriveWheelVoltagesProto proto =
new DifferentialDriveWheelVoltagesProto();
public static final DifferentialDriveWheelVoltagesStruct struct =
new DifferentialDriveWheelVoltagesStruct();
public DifferentialDriveWheelVoltages() {}
public DifferentialDriveWheelVoltages(double left, double right) {

5
wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
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@@ -6,6 +6,8 @@ package edu.wpi.first.math.controller;
import edu.wpi.first.math.MatBuilder;
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;
/**
@@ -18,6 +20,9 @@ public class ElevatorFeedforward {
public final double kv;
public final double ka;
public static final ElevatorFeedforwardProto proto = new ElevatorFeedforwardProto();
public static final ElevatorFeedforwardStruct struct = new ElevatorFeedforwardStruct();
/**
* Creates a new ElevatorFeedforward with the specified gains. Units of the gain values will
* dictate units of the computed feedforward.

40
wpimath/src/main/java/edu/wpi/first/math/controller/proto/ArmFeedforwardProto.java Normal file
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@@ -0,0 +1,40 @@
// 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.
package edu.wpi.first.math.controller.proto;
import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.proto.Controller.ProtobufArmFeedforward;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class ArmFeedforwardProto implements Protobuf<ArmFeedforward, ProtobufArmFeedforward> {
@Override
public Class<ArmFeedforward> getTypeClass() {
return ArmFeedforward.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufArmFeedforward.getDescriptor();
}
@Override
public ProtobufArmFeedforward createMessage() {
return ProtobufArmFeedforward.newInstance();
}
@Override
public ArmFeedforward unpack(ProtobufArmFeedforward msg) {
return new ArmFeedforward(msg.getKs(), msg.getKg(), msg.getKv(), msg.getKa());
}
@Override
public void pack(ProtobufArmFeedforward msg, ArmFeedforward value) {
msg.setKs(value.ks);
msg.setKg(value.kg);
msg.setKv(value.kv);
msg.setKa(value.ka);
}
}

40
wpimath/src/main/java/edu/wpi/first/math/controller/proto/DifferentialDriveWheelVoltagesProto.java Normal file
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@@ -0,0 +1,40 @@
// 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.
package edu.wpi.first.math.controller.proto;
import edu.wpi.first.math.controller.DifferentialDriveWheelVoltages;
import edu.wpi.first.math.proto.Controller.ProtobufDifferentialDriveWheelVoltages;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class DifferentialDriveWheelVoltagesProto
implements Protobuf<DifferentialDriveWheelVoltages, ProtobufDifferentialDriveWheelVoltages> {
@Override
public Class<DifferentialDriveWheelVoltages> getTypeClass() {
return DifferentialDriveWheelVoltages.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufDifferentialDriveWheelVoltages.getDescriptor();
}
@Override
public ProtobufDifferentialDriveWheelVoltages createMessage() {
return ProtobufDifferentialDriveWheelVoltages.newInstance();
}
@Override
public DifferentialDriveWheelVoltages unpack(ProtobufDifferentialDriveWheelVoltages msg) {
return new DifferentialDriveWheelVoltages(msg.getLeft(), msg.getRight());
}
@Override
public void pack(
ProtobufDifferentialDriveWheelVoltages msg, DifferentialDriveWheelVoltages value) {
msg.setLeft(value.left);
msg.setRight(value.right);
}
}

41
wpimath/src/main/java/edu/wpi/first/math/controller/proto/ElevatorFeedforwardProto.java Normal file
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@@ -0,0 +1,41 @@
// 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.
package edu.wpi.first.math.controller.proto;
import edu.wpi.first.math.controller.ElevatorFeedforward;
import edu.wpi.first.math.proto.Controller.ProtobufElevatorFeedforward;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class ElevatorFeedforwardProto
implements Protobuf<ElevatorFeedforward, ProtobufElevatorFeedforward> {
@Override
public Class<ElevatorFeedforward> getTypeClass() {
return ElevatorFeedforward.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufElevatorFeedforward.getDescriptor();
}
@Override
public ProtobufElevatorFeedforward createMessage() {
return ProtobufElevatorFeedforward.newInstance();
}
@Override
public ElevatorFeedforward unpack(ProtobufElevatorFeedforward msg) {
return new ElevatorFeedforward(msg.getKs(), msg.getKg(), msg.getKv(), msg.getKa());
}
@Override
public void pack(ProtobufElevatorFeedforward msg, ElevatorFeedforward value) {
msg.setKs(value.ks);
msg.setKg(value.kg);
msg.setKv(value.kv);
msg.setKa(value.ka);
}
}

48
wpimath/src/main/java/edu/wpi/first/math/controller/struct/ArmFeedforwardStruct.java Normal file
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@@ -0,0 +1,48 @@
// 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.
package edu.wpi.first.math.controller.struct;
import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class ArmFeedforwardStruct implements Struct<ArmFeedforward> {
@Override
public Class<ArmFeedforward> getTypeClass() {
return ArmFeedforward.class;
}
@Override
public String getTypeString() {
return "struct:ArmFeedforward";
}
@Override
public int getSize() {
return kSizeDouble * 4;
}
@Override
public String getSchema() {
return "double ks;double kg;double kv;double ka";
}
@Override
public ArmFeedforward unpack(ByteBuffer bb) {
double ks = bb.getDouble();
double kg = bb.getDouble();
double kv = bb.getDouble();
double ka = bb.getDouble();
return new ArmFeedforward(ks, kg, kv, ka);
}
@Override
public void pack(ByteBuffer bb, ArmFeedforward value) {
bb.putDouble(value.ks);
bb.putDouble(value.kg);
bb.putDouble(value.kv);
bb.putDouble(value.ka);
}
}

45
wpimath/src/main/java/edu/wpi/first/math/controller/struct/DifferentialDriveWheelVoltagesStruct.java Normal file
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@@ -0,0 +1,45 @@
// 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.
package edu.wpi.first.math.controller.struct;
import edu.wpi.first.math.controller.DifferentialDriveWheelVoltages;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class DifferentialDriveWheelVoltagesStruct
implements Struct<DifferentialDriveWheelVoltages> {
@Override
public Class<DifferentialDriveWheelVoltages> getTypeClass() {
return DifferentialDriveWheelVoltages.class;
}
@Override
public String getTypeString() {
return "struct:DifferentialDriveWheelVoltages";
}
@Override
public int getSize() {
return kSizeDouble * 2;
}
@Override
public String getSchema() {
return "double left;double right";
}
@Override
public DifferentialDriveWheelVoltages unpack(ByteBuffer bb) {
double left = bb.getDouble();
double right = bb.getDouble();
return new DifferentialDriveWheelVoltages(left, right);
}
@Override
public void pack(ByteBuffer bb, DifferentialDriveWheelVoltages value) {
bb.putDouble(value.left);
bb.putDouble(value.right);
}
}

48
wpimath/src/main/java/edu/wpi/first/math/controller/struct/ElevatorFeedforwardStruct.java Normal file
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@@ -0,0 +1,48 @@
// 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.
package edu.wpi.first.math.controller.struct;
import edu.wpi.first.math.controller.ElevatorFeedforward;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class ElevatorFeedforwardStruct implements Struct<ElevatorFeedforward> {
@Override
public Class<ElevatorFeedforward> getTypeClass() {
return ElevatorFeedforward.class;
}
@Override
public String getTypeString() {
return "struct:ElevatorFeedforward";
}
@Override
public int getSize() {
return kSizeDouble * 4;
}
@Override
public String getSchema() {
return "double ks;double kg;double kv;double ka";
}
@Override
public ElevatorFeedforward unpack(ByteBuffer bb) {
double ks = bb.getDouble();
double kg = bb.getDouble();
double kv = bb.getDouble();
double ka = bb.getDouble();
return new ElevatorFeedforward(ks, kg, kv, ka);
}
@Override
public void pack(ByteBuffer bb, ElevatorFeedforward value) {
bb.putDouble(value.ks);
bb.putDouble(value.kg);
bb.putDouble(value.kv);
bb.putDouble(value.ka);
}
}

5
wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
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@@ -11,6 +11,8 @@ import static edu.wpi.first.units.Units.Seconds;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.proto.ChassisSpeedsProto;
import edu.wpi.first.math.kinematics.struct.ChassisSpeedsStruct;
import edu.wpi.first.units.Angle;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
@@ -36,6 +38,9 @@ public class ChassisSpeeds {
/** Represents the angular velocity of the robot frame. (CCW is +) */
public double omegaRadiansPerSecond;
public static final ChassisSpeedsProto proto = new ChassisSpeedsProto();
public static final ChassisSpeedsStruct struct = new ChassisSpeedsStruct();
/** Constructs a ChassisSpeeds with zeros for dx, dy, and theta. */
public ChassisSpeeds() {}

7
wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
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@@ -9,6 +9,8 @@ import static edu.wpi.first.units.Units.Meters;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUsageId;
import edu.wpi.first.math.geometry.Twist2d;
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;
@@ -24,6 +26,11 @@ public class DifferentialDriveKinematics
implements Kinematics<DifferentialDriveWheelSpeeds, DifferentialDriveWheelPositions> {
public final double trackWidthMeters;
public static final DifferentialDriveKinematicsProto proto =
new DifferentialDriveKinematicsProto();
public static final DifferentialDriveKinematicsStruct struct =
new DifferentialDriveKinematicsStruct();
/**
* Constructs a differential drive kinematics object.
*

7
wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
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@@ -6,6 +6,8 @@ package edu.wpi.first.math.kinematics;
import static edu.wpi.first.units.Units.MetersPerSecond;
import edu.wpi.first.math.kinematics.proto.DifferentialDriveWheelSpeedsProto;
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;
@@ -18,6 +20,11 @@ public class DifferentialDriveWheelSpeeds {
/** Speed of the right side of the robot. */
public double rightMetersPerSecond;
public static final DifferentialDriveWheelSpeedsProto proto =
new DifferentialDriveWheelSpeedsProto();
public static final DifferentialDriveWheelSpeedsStruct struct =
new DifferentialDriveWheelSpeedsStruct();
/** Constructs a DifferentialDriveWheelSpeeds with zeros for left and right speeds. */
public DifferentialDriveWheelSpeeds() {}

21
wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
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@@ -8,6 +8,8 @@ import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUsageId;
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 org.ejml.simple.SimpleMatrix;
/**
@@ -42,6 +44,9 @@ public class MecanumDriveKinematics
private Translation2d m_prevCoR = new Translation2d();
public static final MecanumDriveKinematicsProto proto = new MecanumDriveKinematicsProto();
public static final MecanumDriveKinematicsStruct struct = new MecanumDriveKinematicsStruct();
/**
* Constructs a mecanum drive kinematics object.
*
@@ -207,4 +212,20 @@ public class MecanumDriveKinematics
m_inverseKinematics.setRow(2, 0, 1, 1, rl.getX() - rl.getY());
m_inverseKinematics.setRow(3, 0, 1, -1, -(rr.getX() + rr.getY()));
}
public Translation2d getFrontLeft() {
return m_frontLeftWheelMeters;
}
public Translation2d getFrontRight() {
return m_frontRightWheelMeters;
}
public Translation2d getRearLeft() {
return m_rearLeftWheelMeters;
}
public Translation2d getRearRight() {
return m_rearRightWheelMeters;
}
}

6
wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
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@@ -7,6 +7,8 @@ package edu.wpi.first.math.kinematics;
import static edu.wpi.first.units.Units.Meters;
import edu.wpi.first.math.MathUtil;
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 java.util.Objects;
@@ -24,6 +26,10 @@ public class MecanumDriveWheelPositions implements WheelPositions<MecanumDriveWh
/** Distance measured by the rear right wheel. */
public double rearRightMeters;
public static final MecanumDriveWheelPositionsStruct struct =
new MecanumDriveWheelPositionsStruct();
public static final MecanumDriveWheelPositionsProto proto = new MecanumDriveWheelPositionsProto();
/** Constructs a MecanumDriveWheelPositions with zeros for all member fields. */
public MecanumDriveWheelPositions() {}

5
wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
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@@ -6,6 +6,8 @@ package edu.wpi.first.math.kinematics;
import static edu.wpi.first.units.Units.MetersPerSecond;
import edu.wpi.first.math.kinematics.proto.MecanumDriveWheelSpeedsProto;
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;
@@ -24,6 +26,9 @@ public class MecanumDriveWheelSpeeds {
/** Speed of the rear right wheel. */
public double rearRightMetersPerSecond;
public static final MecanumDriveWheelSpeedsStruct struct = new MecanumDriveWheelSpeedsStruct();
public static final MecanumDriveWheelSpeedsProto proto = new MecanumDriveWheelSpeedsProto();
/** Constructs a MecanumDriveWheelSpeeds with zeros for all member fields. */
public MecanumDriveWheelSpeeds() {}

5
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
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@@ -9,6 +9,8 @@ import static edu.wpi.first.units.Units.Meters;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.interpolation.Interpolatable;
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 java.util.Objects;
@@ -22,6 +24,9 @@ public class SwerveModulePosition
/** Angle of the module. */
public Rotation2d angle = Rotation2d.fromDegrees(0);
public static final SwerveModulePositionStruct struct = new SwerveModulePositionStruct();
public static final SwerveModulePositionProto proto = new SwerveModulePositionProto();
/** Constructs a SwerveModulePosition with zeros for distance and angle. */
public SwerveModulePosition() {}

5
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
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@@ -7,6 +7,8 @@ package edu.wpi.first.math.kinematics;
import static edu.wpi.first.units.Units.MetersPerSecond;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.proto.SwerveModuleStateProto;
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;
@@ -20,6 +22,9 @@ public class SwerveModuleState implements Comparable<SwerveModuleState> {
/** Angle of the module. */
public Rotation2d angle = Rotation2d.fromDegrees(0);
public static final SwerveModuleStateStruct struct = new SwerveModuleStateStruct();
public static final SwerveModuleStateProto proto = new SwerveModuleStateProto();
/** Constructs a SwerveModuleState with zeros for speed and angle. */
public SwerveModuleState() {}

39
wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/ChassisSpeedsProto.java Normal file
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@@ -0,0 +1,39 @@
// 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.
package edu.wpi.first.math.kinematics.proto;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.proto.Kinematics.ProtobufChassisSpeeds;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class ChassisSpeedsProto implements Protobuf<ChassisSpeeds, ProtobufChassisSpeeds> {
@Override
public Class<ChassisSpeeds> getTypeClass() {
return ChassisSpeeds.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufChassisSpeeds.getDescriptor();
}
@Override
public ProtobufChassisSpeeds createMessage() {
return ProtobufChassisSpeeds.newInstance();
}
@Override
public ChassisSpeeds unpack(ProtobufChassisSpeeds msg) {
return new ChassisSpeeds(msg.getVx(), msg.getVy(), msg.getOmega());
}
@Override
public void pack(ProtobufChassisSpeeds msg, ChassisSpeeds value) {
msg.setVx(value.vxMetersPerSecond);
msg.setVy(value.vyMetersPerSecond);
msg.setOmega(value.omegaRadiansPerSecond);
}
}

38
wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveKinematicsProto.java Normal file
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@@ -0,0 +1,38 @@
// 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.
package edu.wpi.first.math.kinematics.proto;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.proto.Kinematics.ProtobufDifferentialDriveKinematics;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class DifferentialDriveKinematicsProto
implements Protobuf<DifferentialDriveKinematics, ProtobufDifferentialDriveKinematics> {
@Override
public Class<DifferentialDriveKinematics> getTypeClass() {
return DifferentialDriveKinematics.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufDifferentialDriveKinematics.getDescriptor();
}
@Override
public ProtobufDifferentialDriveKinematics createMessage() {
return ProtobufDifferentialDriveKinematics.newInstance();
}
@Override
public DifferentialDriveKinematics unpack(ProtobufDifferentialDriveKinematics msg) {
return new DifferentialDriveKinematics(msg.getTrackWidth());
}
@Override
public void pack(ProtobufDifferentialDriveKinematics msg, DifferentialDriveKinematics value) {
msg.setTrackWidth(value.trackWidthMeters);
}
}

39
wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.java Normal file
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@@ -0,0 +1,39 @@
// 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.
package edu.wpi.first.math.kinematics.proto;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.proto.Kinematics.ProtobufDifferentialDriveWheelSpeeds;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class DifferentialDriveWheelSpeedsProto
implements Protobuf<DifferentialDriveWheelSpeeds, ProtobufDifferentialDriveWheelSpeeds> {
@Override
public Class<DifferentialDriveWheelSpeeds> getTypeClass() {
return DifferentialDriveWheelSpeeds.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufDifferentialDriveWheelSpeeds.getDescriptor();
}
@Override
public ProtobufDifferentialDriveWheelSpeeds createMessage() {
return ProtobufDifferentialDriveWheelSpeeds.newInstance();
}
@Override
public DifferentialDriveWheelSpeeds unpack(ProtobufDifferentialDriveWheelSpeeds msg) {
return new DifferentialDriveWheelSpeeds(msg.getLeft(), msg.getRight());
}
@Override
public void pack(ProtobufDifferentialDriveWheelSpeeds msg, DifferentialDriveWheelSpeeds value) {
msg.setLeft(value.leftMetersPerSecond);
msg.setRight(value.rightMetersPerSecond);
}
}

51
wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveKinematicsProto.java Normal file
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@@ -0,0 +1,51 @@
// 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.
package edu.wpi.first.math.kinematics.proto;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
import edu.wpi.first.math.proto.Kinematics.ProtobufMecanumDriveKinematics;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class MecanumDriveKinematicsProto
implements Protobuf<MecanumDriveKinematics, ProtobufMecanumDriveKinematics> {
@Override
public Class<MecanumDriveKinematics> getTypeClass() {
return MecanumDriveKinematics.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufMecanumDriveKinematics.getDescriptor();
}
@Override
public Protobuf<?, ?>[] getNested() {
return new Protobuf<?, ?>[] {Translation2d.proto};
}
@Override
public ProtobufMecanumDriveKinematics createMessage() {
return ProtobufMecanumDriveKinematics.newInstance();
}
@Override
public MecanumDriveKinematics unpack(ProtobufMecanumDriveKinematics msg) {
return new MecanumDriveKinematics(
Translation2d.proto.unpack(msg.getFrontLeft()),
Translation2d.proto.unpack(msg.getFrontRight()),
Translation2d.proto.unpack(msg.getRearLeft()),
Translation2d.proto.unpack(msg.getRearRight()));
}
@Override
public void pack(ProtobufMecanumDriveKinematics msg, MecanumDriveKinematics value) {
Translation2d.proto.pack(msg.getMutableFrontLeft(), value.getFrontLeft());
Translation2d.proto.pack(msg.getMutableFrontRight(), value.getFrontRight());
Translation2d.proto.pack(msg.getMutableRearLeft(), value.getRearLeft());
Translation2d.proto.pack(msg.getMutableRearRight(), value.getRearRight());
}
}

42
wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelPositionsProto.java Normal file
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@@ -0,0 +1,42 @@
// 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.
package edu.wpi.first.math.kinematics.proto;
import edu.wpi.first.math.kinematics.MecanumDriveWheelPositions;
import edu.wpi.first.math.proto.Kinematics.ProtobufMecanumDriveWheelPositions;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class MecanumDriveWheelPositionsProto
implements Protobuf<MecanumDriveWheelPositions, ProtobufMecanumDriveWheelPositions> {
@Override
public Class<MecanumDriveWheelPositions> getTypeClass() {
return MecanumDriveWheelPositions.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufMecanumDriveWheelPositions.getDescriptor();
}
@Override
public ProtobufMecanumDriveWheelPositions createMessage() {
return ProtobufMecanumDriveWheelPositions.newInstance();
}
@Override
public MecanumDriveWheelPositions unpack(ProtobufMecanumDriveWheelPositions msg) {
return new MecanumDriveWheelPositions(
msg.getFrontLeft(), msg.getFrontRight(), msg.getRearLeft(), msg.getRearRight());
}
@Override
public void pack(ProtobufMecanumDriveWheelPositions msg, MecanumDriveWheelPositions value) {
msg.setFrontLeft(value.frontLeftMeters);
msg.setFrontRight(value.frontRightMeters);
msg.setRearLeft(value.rearLeftMeters);
msg.setRearRight(value.rearRightMeters);
}
}

42
wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelSpeedsProto.java Normal file
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@@ -0,0 +1,42 @@
// 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.
package edu.wpi.first.math.kinematics.proto;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.math.proto.Kinematics.ProtobufMecanumDriveWheelSpeeds;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class MecanumDriveWheelSpeedsProto
implements Protobuf<MecanumDriveWheelSpeeds, ProtobufMecanumDriveWheelSpeeds> {
@Override
public Class<MecanumDriveWheelSpeeds> getTypeClass() {
return MecanumDriveWheelSpeeds.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufMecanumDriveWheelSpeeds.getDescriptor();
}
@Override
public ProtobufMecanumDriveWheelSpeeds createMessage() {
return ProtobufMecanumDriveWheelSpeeds.newInstance();
}
@Override
public MecanumDriveWheelSpeeds unpack(ProtobufMecanumDriveWheelSpeeds msg) {
return new MecanumDriveWheelSpeeds(
msg.getFrontLeft(), msg.getFrontRight(), msg.getRearLeft(), msg.getRearRight());
}
@Override
public void pack(ProtobufMecanumDriveWheelSpeeds msg, MecanumDriveWheelSpeeds value) {
msg.setFrontLeft(value.frontLeftMetersPerSecond);
msg.setFrontRight(value.frontRightMetersPerSecond);
msg.setRearLeft(value.rearLeftMetersPerSecond);
msg.setRearRight(value.rearRightMetersPerSecond);
}
}

45
wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProto.java Normal file
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@@ -0,0 +1,45 @@
// 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.
package edu.wpi.first.math.kinematics.proto;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.proto.Kinematics.ProtobufSwerveModulePosition;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class SwerveModulePositionProto
implements Protobuf<SwerveModulePosition, ProtobufSwerveModulePosition> {
@Override
public Class<SwerveModulePosition> getTypeClass() {
return SwerveModulePosition.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufSwerveModulePosition.getDescriptor();
}
@Override
public Protobuf<?, ?>[] getNested() {
return new Protobuf<?, ?>[] {Rotation2d.proto};
}
@Override
public ProtobufSwerveModulePosition createMessage() {
return ProtobufSwerveModulePosition.newInstance();
}
@Override
public SwerveModulePosition unpack(ProtobufSwerveModulePosition msg) {
return new SwerveModulePosition(msg.getDistance(), Rotation2d.proto.unpack(msg.getAngle()));
}
@Override
public void pack(ProtobufSwerveModulePosition msg, SwerveModulePosition value) {
msg.setDistance(value.distanceMeters);
Rotation2d.proto.pack(msg.getMutableAngle(), value.angle);
}
}

45
wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProto.java Normal file
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@@ -0,0 +1,45 @@
// 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.
package edu.wpi.first.math.kinematics.proto;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.proto.Kinematics.ProtobufSwerveModuleState;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class SwerveModuleStateProto
implements Protobuf<SwerveModuleState, ProtobufSwerveModuleState> {
@Override
public Class<SwerveModuleState> getTypeClass() {
return SwerveModuleState.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufSwerveModuleState.getDescriptor();
}
@Override
public Protobuf<?, ?>[] getNested() {
return new Protobuf<?, ?>[] {Rotation2d.proto};
}
@Override
public ProtobufSwerveModuleState createMessage() {
return ProtobufSwerveModuleState.newInstance();
}
@Override
public SwerveModuleState unpack(ProtobufSwerveModuleState msg) {
return new SwerveModuleState(msg.getSpeed(), Rotation2d.proto.unpack(msg.getAngle()));
}
@Override
public void pack(ProtobufSwerveModuleState msg, SwerveModuleState value) {
msg.setSpeed(value.speedMetersPerSecond);
Rotation2d.proto.pack(msg.getMutableAngle(), value.angle);
}
}

46
wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/ChassisSpeedsStruct.java Normal file
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@@ -0,0 +1,46 @@
// 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.
package edu.wpi.first.math.kinematics.struct;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class ChassisSpeedsStruct implements Struct<ChassisSpeeds> {
@Override
public Class<ChassisSpeeds> getTypeClass() {
return ChassisSpeeds.class;
}
@Override
public String getTypeString() {
return "struct:ChassisSpeeds";
}
@Override
public int getSize() {
return kSizeDouble * 3;
}
@Override
public String getSchema() {
return "double vx;double vy;double omega";
}
@Override
public ChassisSpeeds unpack(ByteBuffer bb) {
double vx = bb.getDouble();
double vy = bb.getDouble();
double omega = bb.getDouble();
return new ChassisSpeeds(vx, vy, omega);
}
@Override
public void pack(ByteBuffer bb, ChassisSpeeds value) {
bb.putDouble(value.vxMetersPerSecond);
bb.putDouble(value.vyMetersPerSecond);
bb.putDouble(value.omegaRadiansPerSecond);
}
}

42
wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveKinematicsStruct.java Normal file
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@@ -0,0 +1,42 @@
// 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.
package edu.wpi.first.math.kinematics.struct;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class DifferentialDriveKinematicsStruct implements Struct<DifferentialDriveKinematics> {
@Override
public Class<DifferentialDriveKinematics> getTypeClass() {
return DifferentialDriveKinematics.class;
}
@Override
public String getTypeString() {
return "struct:DifferentialDriveKinematics";
}
@Override
public int getSize() {
return kSizeDouble;
}
@Override
public String getSchema() {
return "double track_width";
}
@Override
public DifferentialDriveKinematics unpack(ByteBuffer bb) {
double trackWidth = bb.getDouble();
return new DifferentialDriveKinematics(trackWidth);
}
@Override
public void pack(ByteBuffer bb, DifferentialDriveKinematics value) {
bb.putDouble(value.trackWidthMeters);
}
}

44
wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.java Normal file
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@@ -0,0 +1,44 @@
// 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.
package edu.wpi.first.math.kinematics.struct;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class DifferentialDriveWheelSpeedsStruct implements Struct<DifferentialDriveWheelSpeeds> {
@Override
public Class<DifferentialDriveWheelSpeeds> getTypeClass() {
return DifferentialDriveWheelSpeeds.class;
}
@Override
public String getTypeString() {
return "struct:DifferentialDriveWheelSpeeds";
}
@Override
public int getSize() {
return kSizeDouble * 2;
}
@Override
public String getSchema() {
return "double left;double right";
}
@Override
public DifferentialDriveWheelSpeeds unpack(ByteBuffer bb) {
double left = bb.getDouble();
double right = bb.getDouble();
return new DifferentialDriveWheelSpeeds(left, right);
}
@Override
public void pack(ByteBuffer bb, DifferentialDriveWheelSpeeds value) {
bb.putDouble(value.leftMetersPerSecond);
bb.putDouble(value.rightMetersPerSecond);
}
}

55
wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveKinematicsStruct.java Normal file
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@@ -0,0 +1,55 @@
// 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.
package edu.wpi.first.math.kinematics.struct;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class MecanumDriveKinematicsStruct implements Struct<MecanumDriveKinematics> {
@Override
public Class<MecanumDriveKinematics> getTypeClass() {
return MecanumDriveKinematics.class;
}
@Override
public String getTypeString() {
return "struct:MecanumDriveKinematics";
}
@Override
public int getSize() {
return 4 * Translation2d.struct.getSize();
}
@Override
public String getSchema() {
return "Translation2d front_left;Translation2d front_right;Translation2d rear_left;"
+ "Translation2d rear_right";
}
@Override
public Struct<?>[] getNested() {
return new Struct<?>[] {Translation2d.struct};
}
@Override
public MecanumDriveKinematics unpack(ByteBuffer bb) {
Translation2d frontLeft = Translation2d.struct.unpack(bb);
Translation2d frontRight = Translation2d.struct.unpack(bb);
Translation2d rearLeft = Translation2d.struct.unpack(bb);
Translation2d rearRight = Translation2d.struct.unpack(bb);
return new MecanumDriveKinematics(frontLeft, frontRight, rearLeft, rearRight);
}
@Override
public void pack(ByteBuffer bb, MecanumDriveKinematics value) {
Translation2d.struct.pack(bb, value.getFrontLeft());
Translation2d.struct.pack(bb, value.getFrontRight());
Translation2d.struct.pack(bb, value.getRearLeft());
Translation2d.struct.pack(bb, value.getRearRight());
}
}

48
wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelPositionsStruct.java Normal file
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@@ -0,0 +1,48 @@
// 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.
package edu.wpi.first.math.kinematics.struct;
import edu.wpi.first.math.kinematics.MecanumDriveWheelPositions;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class MecanumDriveWheelPositionsStruct implements Struct<MecanumDriveWheelPositions> {
@Override
public Class<MecanumDriveWheelPositions> getTypeClass() {
return MecanumDriveWheelPositions.class;
}
@Override
public String getTypeString() {
return "struct:MecanumDriveWheelPositions";
}
@Override
public int getSize() {
return kSizeDouble * 4;
}
@Override
public String getSchema() {
return "double front_left;double front_right;double rear_left;double rear_right";
}
@Override
public MecanumDriveWheelPositions unpack(ByteBuffer bb) {
double frontLeft = bb.getDouble();
double frontRight = bb.getDouble();
double rearLeft = bb.getDouble();
double rearRight = bb.getDouble();
return new MecanumDriveWheelPositions(frontLeft, frontRight, rearLeft, rearRight);
}
@Override
public void pack(ByteBuffer bb, MecanumDriveWheelPositions value) {
bb.putDouble(value.frontLeftMeters);
bb.putDouble(value.frontRightMeters);
bb.putDouble(value.rearLeftMeters);
bb.putDouble(value.rearRightMeters);
}
}

48
wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.java Normal file
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@@ -0,0 +1,48 @@
// 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.
package edu.wpi.first.math.kinematics.struct;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class MecanumDriveWheelSpeedsStruct implements Struct<MecanumDriveWheelSpeeds> {
@Override
public Class<MecanumDriveWheelSpeeds> getTypeClass() {
return MecanumDriveWheelSpeeds.class;
}
@Override
public String getTypeString() {
return "struct:MecanumDriveWheelSpeeds";
}
@Override
public int getSize() {
return kSizeDouble * 4;
}
@Override
public String getSchema() {
return "double front_left;double front_right;double rear_left;double rear_right";
}
@Override
public MecanumDriveWheelSpeeds unpack(ByteBuffer bb) {
double frontLeft = bb.getDouble();
double frontRight = bb.getDouble();
double rearLeft = bb.getDouble();
double rearRight = bb.getDouble();
return new MecanumDriveWheelSpeeds(frontLeft, frontRight, rearLeft, rearRight);
}
@Override
public void pack(ByteBuffer bb, MecanumDriveWheelSpeeds value) {
bb.putDouble(value.frontLeftMetersPerSecond);
bb.putDouble(value.frontRightMetersPerSecond);
bb.putDouble(value.rearLeftMetersPerSecond);
bb.putDouble(value.rearRightMetersPerSecond);
}
}

50
wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModulePositionStruct.java Normal file
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@@ -0,0 +1,50 @@
// 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.
package edu.wpi.first.math.kinematics.struct;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class SwerveModulePositionStruct implements Struct<SwerveModulePosition> {
@Override
public Class<SwerveModulePosition> getTypeClass() {
return SwerveModulePosition.class;
}
@Override
public String getTypeString() {
return "struct:SwerveModulePosition";
}
@Override
public int getSize() {
return kSizeDouble + Rotation2d.struct.getSize();
}
@Override
public String getSchema() {
return "double distance;Rotation2d angle";
}
@Override
public Struct<?>[] getNested() {
return new Struct<?>[] {Rotation2d.struct};
}
@Override
public SwerveModulePosition unpack(ByteBuffer bb) {
double distance = bb.getDouble();
Rotation2d angle = Rotation2d.struct.unpack(bb);
return new SwerveModulePosition(distance, angle);
}
@Override
public void pack(ByteBuffer bb, SwerveModulePosition value) {
bb.putDouble(value.distanceMeters);
Rotation2d.struct.pack(bb, value.angle);
}
}

50
wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModuleStateStruct.java Normal file
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@@ -0,0 +1,50 @@
// 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.
package edu.wpi.first.math.kinematics.struct;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class SwerveModuleStateStruct implements Struct<SwerveModuleState> {
@Override
public Class<SwerveModuleState> getTypeClass() {
return SwerveModuleState.class;
}
@Override
public String getTypeString() {
return "struct:SwerveModuleState";
}
@Override
public int getSize() {
return kSizeDouble + Rotation2d.struct.getSize();
}
@Override
public String getSchema() {
return "double speed;Rotation2d angle";
}
@Override
public Struct<?>[] getNested() {
return new Struct<?>[] {Rotation2d.struct};
}
@Override
public SwerveModuleState unpack(ByteBuffer bb) {
double speed = bb.getDouble();
Rotation2d angle = Rotation2d.struct.unpack(bb);
return new SwerveModuleState(speed, angle);
}
@Override
public void pack(ByteBuffer bb, SwerveModuleState value) {
bb.putDouble(value.speedMetersPerSecond);
Rotation2d.struct.pack(bb, value.angle);
}
}

5
wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
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@@ -4,6 +4,8 @@
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;
/** Holds the constants for a DC motor. */
@@ -17,6 +19,9 @@ public class DCMotor {
public final double KvRadPerSecPerVolt;
public final double KtNMPerAmp;
public static final DCMotorProto proto = new DCMotorProto();
public static final DCMotorStruct struct = new DCMotorStruct();
/**
* Constructs a DC motor.
*

47
wpimath/src/main/java/edu/wpi/first/math/system/plant/proto/DCMotorProto.java Normal file
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@@ -0,0 +1,47 @@
// 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.
package edu.wpi.first.math.system.plant.proto;
import edu.wpi.first.math.proto.Plant.ProtobufDCMotor;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class DCMotorProto implements Protobuf<DCMotor, ProtobufDCMotor> {
@Override
public Class<DCMotor> getTypeClass() {
return DCMotor.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufDCMotor.getDescriptor();
}
@Override
public ProtobufDCMotor createMessage() {
return ProtobufDCMotor.newInstance();
}
@Override
public DCMotor unpack(ProtobufDCMotor msg) {
return new DCMotor(
msg.getNominalVoltage(),
msg.getStallTorque(),
msg.getStallCurrent(),
msg.getFreeCurrent(),
msg.getFreeSpeed(),
1);
}
@Override
public void pack(ProtobufDCMotor msg, DCMotor value) {
msg.setNominalVoltage(value.nominalVoltageVolts);
msg.setStallTorque(value.stallTorqueNewtonMeters);
msg.setStallCurrent(value.stallCurrentAmps);
msg.setFreeCurrent(value.freeCurrentAmps);
msg.setFreeSpeed(value.freeSpeedRadPerSec);
}
}

51
wpimath/src/main/java/edu/wpi/first/math/system/plant/struct/DCMotorStruct.java Normal file
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@@ -0,0 +1,51 @@
// 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.
package edu.wpi.first.math.system.plant.struct;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public class DCMotorStruct implements Struct<DCMotor> {
@Override
public Class<DCMotor> getTypeClass() {
return DCMotor.class;
}
@Override
public String getTypeString() {
return "struct:DCMotor";
}
@Override
public int getSize() {
return kSizeDouble * 5;
}
@Override
public String getSchema() {
return "double nominal_voltage;double stall_torque;double stall_current;"
+ "double free_current;double free_speed";
}
@Override
public DCMotor unpack(ByteBuffer bb) {
double nominalVoltage = bb.getDouble();
double stallTorque = bb.getDouble();
double stallCurrent = bb.getDouble();
double freeCurrent = bb.getDouble();
double freeSpeed = bb.getDouble();
return new DCMotor(nominalVoltage, stallTorque, stallCurrent, freeCurrent, freeSpeed, 1);
}
@Override
public void pack(ByteBuffer bb, DCMotor value) {
bb.putDouble(value.nominalVoltageVolts);
bb.putDouble(value.stallTorqueNewtonMeters);
bb.putDouble(value.stallCurrentAmps);
bb.putDouble(value.freeCurrentAmps);
bb.putDouble(value.freeSpeedRadPerSec);
}
}

6
wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
View File

@@ -7,6 +7,8 @@ package edu.wpi.first.math.trajectory;
import com.fasterxml.jackson.annotation.JsonProperty;
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 java.util.ArrayList;
import java.util.List;
import java.util.Objects;
@@ -17,6 +19,8 @@ import java.util.stream.Collectors;
* represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
*/
public class Trajectory {
public static final TrajectoryProto proto = new TrajectoryProto();
private final double m_totalTimeSeconds;
private final List<State> m_states;
@@ -264,6 +268,8 @@ public class Trajectory {
* represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
*/
public static class State {
public static final TrajectoryStateProto proto = new TrajectoryStateProto();
// The time elapsed since the beginning of the trajectory.
@JsonProperty("time")
public double timeSeconds;

52
wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryProto.java Normal file
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@@ -0,0 +1,52 @@
// 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.
package edu.wpi.first.math.trajectory.proto;
import edu.wpi.first.math.proto.Trajectory.ProtobufTrajectory;
import edu.wpi.first.math.proto.Trajectory.ProtobufTrajectoryState;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.util.protobuf.Protobuf;
import java.util.ArrayList;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class TrajectoryProto implements Protobuf<Trajectory, ProtobufTrajectory> {
@Override
public Class<Trajectory> getTypeClass() {
return Trajectory.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufTrajectory.getDescriptor();
}
@Override
public Protobuf<?, ?>[] getNested() {
return new Protobuf<?, ?>[] {Trajectory.State.proto};
}
@Override
public ProtobufTrajectory createMessage() {
return ProtobufTrajectory.newInstance();
}
@Override
public Trajectory unpack(ProtobufTrajectory msg) {
ArrayList<Trajectory.State> states = new ArrayList<>(msg.getStates().length());
for (ProtobufTrajectoryState protoState : msg.getStates()) {
states.add(Trajectory.State.proto.unpack(protoState));
}
return new Trajectory(states);
}
@Override
public void pack(ProtobufTrajectory msg, Trajectory value) {
var states = msg.getMutableStates().reserve(value.getStates().size());
for (var item : value.getStates()) {
Trajectory.State.proto.pack(states.next(), item);
}
}
}

52
wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProto.java Normal file
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@@ -0,0 +1,52 @@
// 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.
package edu.wpi.first.math.trajectory.proto;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.proto.Trajectory.ProtobufTrajectoryState;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public class TrajectoryStateProto implements Protobuf<Trajectory.State, ProtobufTrajectoryState> {
@Override
public Class<Trajectory.State> getTypeClass() {
return Trajectory.State.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufTrajectoryState.getDescriptor();
}
@Override
public Protobuf<?, ?>[] getNested() {
return new Protobuf<?, ?>[] {Pose2d.proto};
}
@Override
public ProtobufTrajectoryState createMessage() {
return ProtobufTrajectoryState.newInstance();
}
@Override
public Trajectory.State unpack(ProtobufTrajectoryState msg) {
return new Trajectory.State(
msg.getTime(),
msg.getVelocity(),
msg.getAcceleration(),
Pose2d.proto.unpack(msg.getPose()),
msg.getCurvature());
}
@Override
public void pack(ProtobufTrajectoryState msg, Trajectory.State value) {
msg.setTime(value.timeSeconds);
msg.setVelocity(value.velocityMetersPerSecond);
msg.setAcceleration(value.accelerationMetersPerSecondSq);
Pose2d.proto.pack(msg.getMutablePose(), value.poseMeters);
msg.setCurvature(value.curvatureRadPerMeter);
}
}

33
wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp Normal file
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@@ -0,0 +1,33 @@
// 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.
#include "frc/controller/proto/ArmFeedforwardProto.h"
#include "controller.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::ArmFeedforward>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufArmFeedforward>(arena);
}
frc::ArmFeedforward wpi::Protobuf<frc::ArmFeedforward>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufArmFeedforward*>(&msg);
return frc::ArmFeedforward{
units::volt_t{m->ks()},
units::volt_t{m->kg()},
units::unit_t<frc::ArmFeedforward::kv_unit>{m->kv()},
units::unit_t<frc::ArmFeedforward::ka_unit>{m->ka()},
};
}
void wpi::Protobuf<frc::ArmFeedforward>::Pack(
google::protobuf::Message* msg, const frc::ArmFeedforward& value) {
auto m = static_cast<wpi::proto::ProtobufArmFeedforward*>(msg);
m->set_ks(value.kS.value());
m->set_kg(value.kG.value());
m->set_kv(value.kV.value());
m->set_ka(value.kA.value());
}

34
wpimath/src/main/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProto.cpp Normal file
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@@ -0,0 +1,34 @@
// 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.
#include "frc/controller/proto/DifferentialDriveWheelVoltagesProto.h"
#include "controller.pb.h"
google::protobuf::Message* wpi::Protobuf<
frc::DifferentialDriveWheelVoltages>::New(google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufDifferentialDriveWheelVoltages>(arena);
}
frc::DifferentialDriveWheelVoltages
wpi::Protobuf<frc::DifferentialDriveWheelVoltages>::Unpack(
const google::protobuf::Message& msg) {
auto m =
static_cast<const wpi::proto::ProtobufDifferentialDriveWheelVoltages*>(
&msg);
return frc::DifferentialDriveWheelVoltages{
units::volt_t{m->left()},
units::volt_t{m->right()},
};
}
void wpi::Protobuf<frc::DifferentialDriveWheelVoltages>::Pack(
google::protobuf::Message* msg,
const frc::DifferentialDriveWheelVoltages& value) {
auto m =
static_cast<wpi::proto::ProtobufDifferentialDriveWheelVoltages*>(msg);
m->set_left(value.left.value());
m->set_right(value.right.value());
}

33
wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp Normal file
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@@ -0,0 +1,33 @@
// 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.
#include "frc/controller/proto/ElevatorFeedforwardProto.h"
#include "controller.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::ElevatorFeedforward>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufElevatorFeedforward>(arena);
}
frc::ElevatorFeedforward wpi::Protobuf<frc::ElevatorFeedforward>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufElevatorFeedforward*>(&msg);
return frc::ElevatorFeedforward{
units::volt_t{m->ks()},
units::volt_t{m->kg()},
units::unit_t<frc::ElevatorFeedforward::kv_unit>{m->kv()},
units::unit_t<frc::ElevatorFeedforward::ka_unit>{m->ka()},
};
}
void wpi::Protobuf<frc::ElevatorFeedforward>::Pack(
google::protobuf::Message* msg, const frc::ElevatorFeedforward& value) {
auto m = static_cast<wpi::proto::ProtobufElevatorFeedforward*>(msg);
m->set_ks(value.kS());
m->set_kg(value.kG());
m->set_kv(value.kV());
m->set_ka(value.kA());
}

33
wpimath/src/main/native/cpp/controller/struct/ArmFeedforwardStruct.cpp Normal file
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@@ -0,0 +1,33 @@
// 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.
#include "frc/controller/struct/ArmFeedforwardStruct.h"
namespace {
constexpr size_t kKsOff = 0;
constexpr size_t kKgOff = kKsOff + 8;
constexpr size_t kKvOff = kKgOff + 8;
constexpr size_t kKaOff = kKvOff + 8;
} // namespace
using StructType = wpi::Struct<frc::ArmFeedforward>;
frc::ArmFeedforward StructType::Unpack(std::span<const uint8_t, kSize> data) {
return frc::ArmFeedforward{
units::volt_t{wpi::UnpackStruct<double, kKsOff>(data)},
units::volt_t{wpi::UnpackStruct<double, kKgOff>(data)},
units::unit_t<frc::ArmFeedforward::kv_unit>{
wpi::UnpackStruct<double, kKvOff>(data)},
units::unit_t<frc::ArmFeedforward::ka_unit>{
wpi::UnpackStruct<double, kKaOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::ArmFeedforward& value) {
wpi::PackStruct<kKsOff>(data, value.kS());
wpi::PackStruct<kKgOff>(data, value.kG());
wpi::PackStruct<kKvOff>(data, value.kV());
wpi::PackStruct<kKaOff>(data, value.kA());
}

26
wpimath/src/main/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStruct.cpp Normal file
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@@ -0,0 +1,26 @@
// 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.
#include "frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h"
namespace {
constexpr size_t kLeftOff = 0;
constexpr size_t kRightOff = kLeftOff + 8;
} // namespace
using StructType = wpi::Struct<frc::DifferentialDriveWheelVoltages>;
frc::DifferentialDriveWheelVoltages StructType::Unpack(
std::span<const uint8_t, kSize> data) {
return frc::DifferentialDriveWheelVoltages{
units::volt_t{wpi::UnpackStruct<double, kLeftOff>(data)},
units::volt_t{wpi::UnpackStruct<double, kRightOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::DifferentialDriveWheelVoltages& value) {
wpi::PackStruct<kLeftOff>(data, value.left.value());
wpi::PackStruct<kRightOff>(data, value.right.value());
}

34
wpimath/src/main/native/cpp/controller/struct/ElevatorFeedforwardStruct.cpp Normal file
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@@ -0,0 +1,34 @@
// 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.
#include "frc/controller/struct/ElevatorFeedforwardStruct.h"
namespace {
constexpr size_t kKsOff = 0;
constexpr size_t kKgOff = kKsOff + 8;
constexpr size_t kKvOff = kKgOff + 8;
constexpr size_t kKaOff = kKvOff + 8;
} // namespace
using StructType = wpi::Struct<frc::ElevatorFeedforward>;
frc::ElevatorFeedforward StructType::Unpack(
std::span<const uint8_t, kSize> data) {
return frc::ElevatorFeedforward{
units::volt_t{wpi::UnpackStruct<double, kKsOff>(data)},
units::volt_t{wpi::UnpackStruct<double, kKgOff>(data)},
units::unit_t<frc::ElevatorFeedforward::kv_unit>{
wpi::UnpackStruct<double, kKvOff>(data)},
units::unit_t<frc::ElevatorFeedforward::ka_unit>{
wpi::UnpackStruct<double, kKaOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::ElevatorFeedforward& value) {
wpi::PackStruct<kKsOff>(data, value.kS());
wpi::PackStruct<kKgOff>(data, value.kG());
wpi::PackStruct<kKvOff>(data, value.kV());
wpi::PackStruct<kKaOff>(data, value.kA());
}

31
wpimath/src/main/native/cpp/kinematics/proto/ChassisSpeedsProto.cpp Normal file
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@@ -0,0 +1,31 @@
// 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.
#include "frc/kinematics/proto/ChassisSpeedsProto.h"
#include "kinematics.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::ChassisSpeeds>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufChassisSpeeds>(arena);
}
frc::ChassisSpeeds wpi::Protobuf<frc::ChassisSpeeds>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufChassisSpeeds*>(&msg);
return frc::ChassisSpeeds{
units::meters_per_second_t{m->vx()},
units::meters_per_second_t{m->vy()},
units::radians_per_second_t{m->omega()},
};
}
void wpi::Protobuf<frc::ChassisSpeeds>::Pack(google::protobuf::Message* msg,
const frc::ChassisSpeeds& value) {
auto m = static_cast<wpi::proto::ProtobufChassisSpeeds*>(msg);
m->set_vx(value.vx.value());
m->set_vy(value.vy.value());
m->set_omega(value.omega.value());
}

30
wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp Normal file
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@@ -0,0 +1,30 @@
// 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.
#include "frc/kinematics/proto/DifferentialDriveKinematicsProto.h"
#include "kinematics.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::DifferentialDriveKinematics>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufDifferentialDriveKinematics>(arena);
}
frc::DifferentialDriveKinematics
wpi::Protobuf<frc::DifferentialDriveKinematics>::Unpack(
const google::protobuf::Message& msg) {
auto m =
static_cast<const wpi::proto::ProtobufDifferentialDriveKinematics*>(&msg);
return frc::DifferentialDriveKinematics{
units::meter_t{m->track_width()},
};
}
void wpi::Protobuf<frc::DifferentialDriveKinematics>::Pack(
google::protobuf::Message* msg,
const frc::DifferentialDriveKinematics& value) {
auto m = static_cast<wpi::proto::ProtobufDifferentialDriveKinematics*>(msg);
m->set_track_width(value.trackWidth.value());
}

32
wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp Normal file
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@@ -0,0 +1,32 @@
// 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.
#include "frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h"
#include "kinematics.pb.h"
google::protobuf::Message* wpi::Protobuf<
frc::DifferentialDriveWheelSpeeds>::New(google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufDifferentialDriveWheelSpeeds>(arena);
}
frc::DifferentialDriveWheelSpeeds
wpi::Protobuf<frc::DifferentialDriveWheelSpeeds>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufDifferentialDriveWheelSpeeds*>(
&msg);
return frc::DifferentialDriveWheelSpeeds{
units::meters_per_second_t{m->left()},
units::meters_per_second_t{m->right()},
};
}
void wpi::Protobuf<frc::DifferentialDriveWheelSpeeds>::Pack(
google::protobuf::Message* msg,
const frc::DifferentialDriveWheelSpeeds& value) {
auto m = static_cast<wpi::proto::ProtobufDifferentialDriveWheelSpeeds*>(msg);
m->set_left(value.left.value());
m->set_right(value.right.value());
}

33
wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp Normal file
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@@ -0,0 +1,33 @@
// 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.
#include "frc/kinematics/proto/MecanumDriveKinematicsProto.h"
#include "kinematics.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::MecanumDriveKinematics>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufMecanumDriveKinematics>(arena);
}
frc::MecanumDriveKinematics wpi::Protobuf<frc::MecanumDriveKinematics>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufMecanumDriveKinematics*>(&msg);
return frc::MecanumDriveKinematics{
wpi::UnpackProtobuf<frc::Translation2d>(m->front_left()),
wpi::UnpackProtobuf<frc::Translation2d>(m->front_right()),
wpi::UnpackProtobuf<frc::Translation2d>(m->rear_left()),
wpi::UnpackProtobuf<frc::Translation2d>(m->rear_right()),
};
}
void wpi::Protobuf<frc::MecanumDriveKinematics>::Pack(
google::protobuf::Message* msg, const frc::MecanumDriveKinematics& value) {
auto m = static_cast<wpi::proto::ProtobufMecanumDriveKinematics*>(msg);
wpi::PackProtobuf(m->mutable_front_left(), value.GetFrontLeftWheel());
wpi::PackProtobuf(m->mutable_front_right(), value.GetFrontRightWheel());
wpi::PackProtobuf(m->mutable_rear_left(), value.GetRearLeftWheel());
wpi::PackProtobuf(m->mutable_rear_right(), value.GetRearRightWheel());
}

36
wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProto.cpp Normal file
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@@ -0,0 +1,36 @@
// 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.
#include "frc/kinematics/proto/MecanumDriveWheelPositionsProto.h"
#include "kinematics.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::MecanumDriveWheelPositions>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufMecanumDriveWheelPositions>(arena);
}
frc::MecanumDriveWheelPositions
wpi::Protobuf<frc::MecanumDriveWheelPositions>::Unpack(
const google::protobuf::Message& msg) {
auto m =
static_cast<const wpi::proto::ProtobufMecanumDriveWheelPositions*>(&msg);
return frc::MecanumDriveWheelPositions{
units::meter_t{m->front_left()},
units::meter_t{m->front_right()},
units::meter_t{m->rear_left()},
units::meter_t{m->rear_right()},
};
}
void wpi::Protobuf<frc::MecanumDriveWheelPositions>::Pack(
google::protobuf::Message* msg,
const frc::MecanumDriveWheelPositions& value) {
auto m = static_cast<wpi::proto::ProtobufMecanumDriveWheelPositions*>(msg);
m->set_front_left(value.frontLeft.value());
m->set_front_right(value.frontRight.value());
m->set_rear_left(value.rearLeft.value());
m->set_rear_right(value.rearRight.value());
}

35
wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProto.cpp Normal file
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@@ -0,0 +1,35 @@
// 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.
#include "frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h"
#include "kinematics.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::MecanumDriveWheelSpeeds>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufMecanumDriveWheelSpeeds>(arena);
}
frc::MecanumDriveWheelSpeeds
wpi::Protobuf<frc::MecanumDriveWheelSpeeds>::Unpack(
const google::protobuf::Message& msg) {
auto m =
static_cast<const wpi::proto::ProtobufMecanumDriveWheelSpeeds*>(&msg);
return frc::MecanumDriveWheelSpeeds{
units::meters_per_second_t{m->front_left()},
units::meters_per_second_t{m->front_right()},
units::meters_per_second_t{m->rear_left()},
units::meters_per_second_t{m->rear_right()},
};
}
void wpi::Protobuf<frc::MecanumDriveWheelSpeeds>::Pack(
google::protobuf::Message* msg, const frc::MecanumDriveWheelSpeeds& value) {
auto m = static_cast<wpi::proto::ProtobufMecanumDriveWheelSpeeds*>(msg);
m->set_front_left(value.frontLeft.value());
m->set_front_right(value.frontRight.value());
m->set_rear_left(value.rearLeft.value());
m->set_rear_right(value.rearRight.value());
}

29
wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp Normal file
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@@ -0,0 +1,29 @@
// 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.
#include "frc/kinematics/proto/SwerveModulePositionProto.h"
#include "kinematics.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::SwerveModulePosition>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufSwerveModulePosition>(arena);
}
frc::SwerveModulePosition wpi::Protobuf<frc::SwerveModulePosition>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufSwerveModulePosition*>(&msg);
return frc::SwerveModulePosition{
units::meter_t{m->distance()},
wpi::UnpackProtobuf<frc::Rotation2d>(m->angle()),
};
}
void wpi::Protobuf<frc::SwerveModulePosition>::Pack(
google::protobuf::Message* msg, const frc::SwerveModulePosition& value) {
auto m = static_cast<wpi::proto::ProtobufSwerveModulePosition*>(msg);
m->set_distance(value.distance.value());
wpi::PackProtobuf(m->mutable_angle(), value.angle);
}

29
wpimath/src/main/native/cpp/kinematics/proto/SwerveModuleStateProto.cpp Normal file
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@@ -0,0 +1,29 @@
// 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.
#include "frc/kinematics/proto/SwerveModuleStateProto.h"
#include "kinematics.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::SwerveModuleState>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufSwerveModuleState>(arena);
}
frc::SwerveModuleState wpi::Protobuf<frc::SwerveModuleState>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufSwerveModuleState*>(&msg);
return frc::SwerveModuleState{
units::meters_per_second_t{m->speed()},
wpi::UnpackProtobuf<frc::Rotation2d>(m->angle()),
};
}
void wpi::Protobuf<frc::SwerveModuleState>::Pack(
google::protobuf::Message* msg, const frc::SwerveModuleState& value) {
auto m = static_cast<wpi::proto::ProtobufSwerveModuleState*>(msg);
m->set_speed(value.speed.value());
wpi::PackProtobuf(m->mutable_angle(), value.angle);
}

28
wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp Normal file
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@@ -0,0 +1,28 @@
// 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.
#include "frc/kinematics/struct/ChassisSpeedsStruct.h"
namespace {
constexpr size_t kVxOff = 0;
constexpr size_t kVyOff = kVxOff + 8;
constexpr size_t kOmegaOff = kVyOff + 8;
} // namespace
using StructType = wpi::Struct<frc::ChassisSpeeds>;
frc::ChassisSpeeds StructType::Unpack(std::span<const uint8_t, kSize> data) {
return frc::ChassisSpeeds{
units::meters_per_second_t{wpi::UnpackStruct<double, kVxOff>(data)},
units::meters_per_second_t{wpi::UnpackStruct<double, kVyOff>(data)},
units::radians_per_second_t{wpi::UnpackStruct<double, kOmegaOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::ChassisSpeeds& value) {
wpi::PackStruct<kVxOff>(data, value.vx.value());
wpi::PackStruct<kVyOff>(data, value.vy.value());
wpi::PackStruct<kOmegaOff>(data, value.omega.value());
}

23
wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp Normal file
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// 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.
#include "frc/kinematics/struct/DifferentialDriveKinematicsStruct.h"
namespace {
constexpr size_t kTrackWidthOff = 0;
} // namespace
using StructType = wpi::Struct<frc::DifferentialDriveKinematics>;
frc::DifferentialDriveKinematics StructType::Unpack(
std::span<const uint8_t, kSize> data) {
return frc::DifferentialDriveKinematics{
units::meter_t{wpi::UnpackStruct<double, kTrackWidthOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::DifferentialDriveKinematics& value) {
wpi::PackStruct<kTrackWidthOff>(data, value.trackWidth.value());
}

26
wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp Normal file
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@@ -0,0 +1,26 @@
// 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.
#include "frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h"
namespace {
constexpr size_t kLeftOff = 0;
constexpr size_t kRightOff = kLeftOff + 8;
} // namespace
using StructType = wpi::Struct<frc::DifferentialDriveWheelSpeeds>;
frc::DifferentialDriveWheelSpeeds StructType::Unpack(
std::span<const uint8_t, kSize> data) {
return frc::DifferentialDriveWheelSpeeds{
units::meters_per_second_t{wpi::UnpackStruct<double, kLeftOff>(data)},
units::meters_per_second_t{wpi::UnpackStruct<double, kRightOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::DifferentialDriveWheelSpeeds& value) {
wpi::PackStruct<kLeftOff>(data, value.left.value());
wpi::PackStruct<kRightOff>(data, value.right.value());
}

40
wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp Normal file
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@@ -0,0 +1,40 @@
// 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.
#include "frc/kinematics/struct/MecanumDriveKinematicsStruct.h"
namespace {
constexpr size_t kFrontLeftOff = 0;
constexpr size_t kFrontRightOff =
kFrontLeftOff + wpi::Struct<frc::Translation2d>::kSize;
constexpr size_t kRearLeftOff =
kFrontRightOff + wpi::Struct<frc::Translation2d>::kSize;
constexpr size_t kRearRightOff =
kRearLeftOff + wpi::Struct<frc::Translation2d>::kSize;
} // namespace
using StructType = wpi::Struct<frc::MecanumDriveKinematics>;
frc::MecanumDriveKinematics StructType::Unpack(
std::span<const uint8_t, kSize> data) {
return frc::MecanumDriveKinematics{
wpi::UnpackStruct<frc::Translation2d, kFrontLeftOff>(data),
wpi::UnpackStruct<frc::Translation2d, kFrontRightOff>(data),
wpi::UnpackStruct<frc::Translation2d, kRearLeftOff>(data),
wpi::UnpackStruct<frc::Translation2d, kRearRightOff>(data),
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::MecanumDriveKinematics& value) {
wpi::PackStruct<kFrontLeftOff>(data, value.GetFrontLeftWheel());
wpi::PackStruct<kFrontRightOff>(data, value.GetFrontRightWheel());
wpi::PackStruct<kRearLeftOff>(data, value.GetRearLeftWheel());
wpi::PackStruct<kRearRightOff>(data, value.GetRearRightWheel());
}
void StructType::ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn) {
wpi::ForEachStructSchema<frc::Translation2d>(fn);
}

32
wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp Normal file
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@@ -0,0 +1,32 @@
// 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.
#include "frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h"
namespace {
constexpr size_t kFrontLeftOff = 0;
constexpr size_t kFrontRightOff = kFrontLeftOff + 8;
constexpr size_t kRearLeftOff = kFrontRightOff + 8;
constexpr size_t kRearRightOff = kRearLeftOff + 8;
} // namespace
using StructType = wpi::Struct<frc::MecanumDriveWheelPositions>;
frc::MecanumDriveWheelPositions StructType::Unpack(
std::span<const uint8_t, kSize> data) {
return frc::MecanumDriveWheelPositions{
units::meter_t{wpi::UnpackStruct<double, kFrontLeftOff>(data)},
units::meter_t{wpi::UnpackStruct<double, kFrontRightOff>(data)},
units::meter_t{wpi::UnpackStruct<double, kRearLeftOff>(data)},
units::meter_t{wpi::UnpackStruct<double, kRearRightOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::MecanumDriveWheelPositions& value) {
wpi::PackStruct<kFrontLeftOff>(data, value.frontLeft.value());
wpi::PackStruct<kFrontRightOff>(data, value.frontRight.value());
wpi::PackStruct<kRearLeftOff>(data, value.rearLeft.value());
wpi::PackStruct<kRearRightOff>(data, value.rearRight.value());
}

35
wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp Normal file
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@@ -0,0 +1,35 @@
// 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.
#include "frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h"
namespace {
constexpr size_t kFrontLeftOff = 0;
constexpr size_t kFrontRightOff = kFrontLeftOff + 8;
constexpr size_t kRearLeftOff = kFrontRightOff + 8;
constexpr size_t kRearRightOff = kRearLeftOff + 8;
} // namespace
using StructType = wpi::Struct<frc::MecanumDriveWheelSpeeds>;
frc::MecanumDriveWheelSpeeds StructType::Unpack(
std::span<const uint8_t, kSize> data) {
return frc::MecanumDriveWheelSpeeds{
units::meters_per_second_t{
wpi::UnpackStruct<double, kFrontLeftOff>(data)},
units::meters_per_second_t{
wpi::UnpackStruct<double, kFrontRightOff>(data)},
units::meters_per_second_t{wpi::UnpackStruct<double, kRearLeftOff>(data)},
units::meters_per_second_t{
wpi::UnpackStruct<double, kRearRightOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::MecanumDriveWheelSpeeds& value) {
wpi::PackStruct<kFrontLeftOff>(data, value.frontLeft.value());
wpi::PackStruct<kFrontRightOff>(data, value.frontRight.value());
wpi::PackStruct<kRearLeftOff>(data, value.rearLeft.value());
wpi::PackStruct<kRearRightOff>(data, value.rearRight.value());
}

31
wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp Normal file
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@@ -0,0 +1,31 @@
// 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.
#include "frc/kinematics/struct/SwerveModulePositionStruct.h"
namespace {
constexpr size_t kDistanceOff = 0;
constexpr size_t kAngleOff = kDistanceOff + 8;
} // namespace
using StructType = wpi::Struct<frc::SwerveModulePosition>;
frc::SwerveModulePosition StructType::Unpack(
std::span<const uint8_t, kSize> data) {
return frc::SwerveModulePosition{
units::meter_t{wpi::UnpackStruct<double, kDistanceOff>(data)},
wpi::UnpackStruct<frc::Rotation2d, kAngleOff>(data),
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::SwerveModulePosition& value) {
wpi::PackStruct<kDistanceOff>(data, value.distance.value());
wpi::PackStruct<kAngleOff>(data, value.angle);
}
void StructType::ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn) {
wpi::ForEachStructSchema<frc::Rotation2d>(fn);
}

31
wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp Normal file
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@@ -0,0 +1,31 @@
// 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.
#include "frc/kinematics/struct/SwerveModuleStateStruct.h"
namespace {
constexpr size_t kSpeedOff = 0;
constexpr size_t kAngleOff = kSpeedOff + 8;
} // namespace
using StructType = wpi::Struct<frc::SwerveModuleState>;
frc::SwerveModuleState StructType::Unpack(
std::span<const uint8_t, kSize> data) {
return frc::SwerveModuleState{
units::meters_per_second_t{wpi::UnpackStruct<double, kSpeedOff>(data)},
wpi::UnpackStruct<frc::Rotation2d, kAngleOff>(data),
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::SwerveModuleState& value) {
wpi::PackStruct<kSpeedOff>(data, value.speed.value());
wpi::PackStruct<kAngleOff>(data, value.angle);
}
void StructType::ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn) {
wpi::ForEachStructSchema<frc::Rotation2d>(fn);
}

35
wpimath/src/main/native/cpp/system/plant/proto/DCMotorProto.cpp Normal file
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@@ -0,0 +1,35 @@
// 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.
#include "frc/system/plant/proto/DCMotorProto.h"
#include "plant.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::DCMotor>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<wpi::proto::ProtobufDCMotor>(
arena);
}
frc::DCMotor wpi::Protobuf<frc::DCMotor>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufDCMotor*>(&msg);
return frc::DCMotor{
units::volt_t{m->nominal_voltage()},
units::newton_meter_t{m->stall_torque()},
units::ampere_t{m->stall_current()},
units::ampere_t{m->free_current()},
units::radians_per_second_t{m->free_speed()},
};
}
void wpi::Protobuf<frc::DCMotor>::Pack(google::protobuf::Message* msg,
const frc::DCMotor& value) {
auto m = static_cast<wpi::proto::ProtobufDCMotor*>(msg);
m->set_nominal_voltage(value.nominalVoltage.value());
m->set_stall_torque(value.stallTorque.value());
m->set_stall_current(value.stallCurrent.value());
m->set_free_current(value.freeCurrent.value());
m->set_free_speed(value.freeSpeed.value());
}

35
wpimath/src/main/native/cpp/system/plant/struct/DCMotorStruct.cpp Normal file
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@@ -0,0 +1,35 @@
// 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.
#include "frc/system/plant/struct/DCMotorStruct.h"
namespace {
constexpr size_t kNominalVoltageOff = 0;
constexpr size_t kStallTorqueOff = kNominalVoltageOff + 8;
constexpr size_t kStallCurrentOff = kStallTorqueOff + 8;
constexpr size_t kFreeCurrentOff = kStallCurrentOff + 8;
constexpr size_t kFreeSpeedOff = kFreeCurrentOff + 8;
} // namespace
using StructType = wpi::Struct<frc::DCMotor>;
frc::DCMotor StructType::Unpack(std::span<const uint8_t, kSize> data) {
return frc::DCMotor{
units::volt_t{wpi::UnpackStruct<double, kNominalVoltageOff>(data)},
units::newton_meter_t{wpi::UnpackStruct<double, kStallTorqueOff>(data)},
units::ampere_t{wpi::UnpackStruct<double, kStallCurrentOff>(data)},
units::ampere_t{wpi::UnpackStruct<double, kFreeCurrentOff>(data)},
units::radians_per_second_t{
wpi::UnpackStruct<double, kFreeSpeedOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::DCMotor& value) {
wpi::PackStruct<kNominalVoltageOff>(data, value.nominalVoltage.value());
wpi::PackStruct<kStallTorqueOff>(data, value.stallTorque.value());
wpi::PackStruct<kStallCurrentOff>(data, value.stallCurrent.value());
wpi::PackStruct<kFreeCurrentOff>(data, value.freeCurrent.value());
wpi::PackStruct<kFreeSpeedOff>(data, value.freeSpeed.value());
}

33
wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp Normal file
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@@ -0,0 +1,33 @@
// 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.
#include "frc/trajectory/proto/TrajectoryProto.h"
#include "trajectory.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::Trajectory>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<wpi::proto::ProtobufTrajectory>(
arena);
}
frc::Trajectory wpi::Protobuf<frc::Trajectory>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufTrajectory*>(&msg);
std::vector<frc::Trajectory::State> states;
states.reserve(m->states().size());
for (const auto& protoState : m->states()) {
states.push_back(wpi::UnpackProtobuf<frc::Trajectory::State>(protoState));
}
return frc::Trajectory{states};
}
void wpi::Protobuf<frc::Trajectory>::Pack(google::protobuf::Message* msg,
const frc::Trajectory& value) {
auto m = static_cast<wpi::proto::ProtobufTrajectory*>(msg);
m->mutable_states()->Reserve(value.States().size());
for (const auto& state : value.States()) {
wpi::PackProtobuf(m->add_states(), state);
}
}

35
wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp Normal file
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@@ -0,0 +1,35 @@
// 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.
#include "frc/trajectory/proto/TrajectoryStateProto.h"
#include "trajectory.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::Trajectory::State>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufTrajectoryState>(arena);
}
frc::Trajectory::State wpi::Protobuf<frc::Trajectory::State>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufTrajectoryState*>(&msg);
return frc::Trajectory::State{
units::second_t{m->time()},
units::meters_per_second_t{m->velocity()},
units::meters_per_second_squared_t{m->acceleration()},
wpi::UnpackProtobuf<frc::Pose2d>(m->pose()),
units::curvature_t{m->curvature()},
};
}
void wpi::Protobuf<frc::Trajectory::State>::Pack(
google::protobuf::Message* msg, const frc::Trajectory::State& value) {
auto m = static_cast<wpi::proto::ProtobufTrajectoryState*>(msg);
m->set_time(value.t.value());
m->set_velocity(value.velocity.value());
m->set_acceleration(value.acceleration.value());
wpi::PackProtobuf(m->mutable_pose(), value.pose);
m->set_curvature(value.curvature.value());
}

3
wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
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@@ -169,3 +169,6 @@ class WPILIB_DLLEXPORT ArmFeedforward {
units::unit_t<ka_unit> kA{0};
};
} // namespace frc
#include "frc/controller/proto/ArmFeedforwardProto.h"
#include "frc/controller/struct/ArmFeedforwardStruct.h"

3
wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h
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@@ -17,3 +17,6 @@ struct DifferentialDriveWheelVoltages {
};
} // namespace frc
#include "frc/controller/proto/DifferentialDriveWheelVoltagesProto.h"
#include "frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h"

3
wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
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@@ -176,3 +176,6 @@ class ElevatorFeedforward {
units::unit_t<ka_unit> kA{0};
};
} // namespace frc
#include "frc/controller/proto/ElevatorFeedforwardProto.h"
#include "frc/controller/struct/ElevatorFeedforwardStruct.h"

18
wpimath/src/main/native/include/frc/controller/proto/ArmFeedforwardProto.h Normal file
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@@ -0,0 +1,18 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/controller/ArmFeedforward.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ArmFeedforward> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::ArmFeedforward Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::ArmFeedforward& value);
};

19
wpimath/src/main/native/include/frc/controller/proto/DifferentialDriveWheelVoltagesProto.h Normal file
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@@ -0,0 +1,19 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/controller/DifferentialDriveWheelVoltages.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelVoltages> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::DifferentialDriveWheelVoltages Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::DifferentialDriveWheelVoltages& value);
};

18
wpimath/src/main/native/include/frc/controller/proto/ElevatorFeedforwardProto.h Normal file
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@@ -0,0 +1,18 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/controller/ElevatorFeedforward.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ElevatorFeedforward> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::ElevatorFeedforward Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::ElevatorFeedforward& value);
};

22
wpimath/src/main/native/include/frc/controller/struct/ArmFeedforwardStruct.h Normal file
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@@ -0,0 +1,22 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/controller/ArmFeedforward.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::ArmFeedforward> {
static constexpr std::string_view kTypeString = "struct:ArmFeedforward";
static constexpr size_t kSize = 32;
static constexpr std::string_view kSchema =
"double ks;double kg;double kv;double ka";
static frc::ArmFeedforward Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::ArmFeedforward& value);
};

23
wpimath/src/main/native/include/frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h Normal file
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@@ -0,0 +1,23 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/controller/DifferentialDriveWheelVoltages.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelVoltages> {
static constexpr std::string_view kTypeString =
"struct:DifferentialDriveWheelVoltages";
static constexpr size_t kSize = 16;
static constexpr std::string_view kSchema = "double left;double right";
static frc::DifferentialDriveWheelVoltages Unpack(
std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::DifferentialDriveWheelVoltages& value);
};

22
wpimath/src/main/native/include/frc/controller/struct/ElevatorFeedforwardStruct.h Normal file
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@@ -0,0 +1,22 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/controller/ElevatorFeedforward.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::ElevatorFeedforward> {
static constexpr std::string_view kTypeString = "struct:ElevatorFeedforward";
static constexpr size_t kSize = 32;
static constexpr std::string_view kSchema =
"double ks;double kg;double kv;double ka";
static frc::ElevatorFeedforward Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::ElevatorFeedforward& value);
};

3
wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
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@@ -251,3 +251,6 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
}
};
} // namespace frc
#include "frc/kinematics/proto/ChassisSpeedsProto.h"
#include "frc/kinematics/struct/ChassisSpeedsStruct.h"

3
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
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@@ -91,3 +91,6 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
units::meter_t trackWidth;
};
} // namespace frc
#include "frc/kinematics/proto/DifferentialDriveKinematicsProto.h"
#include "frc/kinematics/struct/DifferentialDriveKinematicsStruct.h"

3
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
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@@ -112,3 +112,6 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
}
};
} // namespace frc
#include "frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h"
#include "frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h"

8
wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
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@@ -138,6 +138,11 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
*/
Twist2d ToTwist2d(const MecanumDriveWheelPositions& wheelDeltas) const;
const Translation2d GetFrontLeftWheel() const { return m_frontLeftWheel; }
const Translation2d GetFrontRightWheel() const { return m_frontRightWheel; }
const Translation2d GetRearLeftWheel() const { return m_rearLeftWheel; }
const Translation2d GetRearRightWheel() const { return m_rearRightWheel; }
private:
mutable Matrixd<4, 3> m_inverseKinematics;
Eigen::HouseholderQR<Matrixd<4, 3>> m_forwardKinematics;
@@ -165,3 +170,6 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
};
} // namespace frc
#include "frc/kinematics/proto/MecanumDriveKinematicsProto.h"
#include "frc/kinematics/struct/MecanumDriveKinematicsStruct.h"

3
wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
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@@ -60,3 +60,6 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelPositions {
}
};
} // namespace frc
#include "frc/kinematics/proto/MecanumDriveWheelPositionsProto.h"
#include "frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h"

3
wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
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@@ -120,3 +120,6 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
}
};
} // namespace frc
#include "frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h"
#include "frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h"

3
wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
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@@ -42,3 +42,6 @@ struct WPILIB_DLLEXPORT SwerveModulePosition {
}
};
} // namespace frc
#include "frc/kinematics/proto/SwerveModulePositionProto.h"
#include "frc/kinematics/struct/SwerveModulePositionStruct.h"

3
wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
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@@ -47,3 +47,6 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
const Rotation2d& currentAngle);
};
} // namespace frc
#include "frc/kinematics/proto/SwerveModuleStateProto.h"
#include "frc/kinematics/struct/SwerveModuleStateStruct.h"

18
wpimath/src/main/native/include/frc/kinematics/proto/ChassisSpeedsProto.h Normal file
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@@ -0,0 +1,18 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/ChassisSpeeds.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ChassisSpeeds> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::ChassisSpeeds Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::ChassisSpeeds& value);
};

19
wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveKinematicsProto.h Normal file
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@@ -0,0 +1,19 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/DifferentialDriveKinematics.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveKinematics> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::DifferentialDriveKinematics Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::DifferentialDriveKinematics& value);
};

19
wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h Normal file
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@@ -0,0 +1,19 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelSpeeds> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::DifferentialDriveWheelSpeeds Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::DifferentialDriveWheelSpeeds& value);
};

19
wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveKinematicsProto.h Normal file
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@@ -0,0 +1,19 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/MecanumDriveKinematics.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveKinematics> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::MecanumDriveKinematics Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::MecanumDriveKinematics& value);
};

19
wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveWheelPositionsProto.h Normal file
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@@ -0,0 +1,19 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/MecanumDriveWheelPositions.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveWheelPositions> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::MecanumDriveWheelPositions Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::MecanumDriveWheelPositions& value);
};

19
wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h Normal file
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@@ -0,0 +1,19 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveWheelSpeeds> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::MecanumDriveWheelSpeeds Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::MecanumDriveWheelSpeeds& value);
};

18
wpimath/src/main/native/include/frc/kinematics/proto/SwerveModulePositionProto.h Normal file
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@@ -0,0 +1,18 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/SwerveModulePosition.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::SwerveModulePosition> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::SwerveModulePosition Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::SwerveModulePosition& value);
};

18
wpimath/src/main/native/include/frc/kinematics/proto/SwerveModuleStateProto.h Normal file
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@@ -0,0 +1,18 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/SwerveModuleState.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::SwerveModuleState> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::SwerveModuleState Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::SwerveModuleState& value);
};

22
wpimath/src/main/native/include/frc/kinematics/struct/ChassisSpeedsStruct.h Normal file
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@@ -0,0 +1,22 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/kinematics/ChassisSpeeds.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::ChassisSpeeds> {
static constexpr std::string_view kTypeString = "struct:ChassisSpeeds";
static constexpr size_t kSize = 24;
static constexpr std::string_view kSchema =
"double vx;double vy;double omega";
static frc::ChassisSpeeds Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::ChassisSpeeds& value);
};

23
wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h Normal file
View File

@@ -0,0 +1,23 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/kinematics/DifferentialDriveKinematics.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveKinematics> {
static constexpr std::string_view kTypeString =
"struct:DifferentialDriveKinematics";
static constexpr size_t kSize = 8;
static constexpr std::string_view kSchema = "double track_width";
static frc::DifferentialDriveKinematics Unpack(
std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::DifferentialDriveKinematics& value);
};

23
wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h Normal file
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@@ -0,0 +1,23 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelSpeeds> {
static constexpr std::string_view kTypeString =
"struct:DifferentialDriveWheelSpeeds";
static constexpr size_t kSize = 16;
static constexpr std::string_view kSchema = "double left;double right";
static frc::DifferentialDriveWheelSpeeds Unpack(
std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::DifferentialDriveWheelSpeeds& value);
};

29
wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveKinematicsStruct.h Normal file
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@@ -0,0 +1,29 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/kinematics/MecanumDriveKinematics.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveKinematics> {
static constexpr std::string_view kTypeString =
"struct:MecanumDriveKinematics";
static constexpr size_t kSize = 4 * wpi::Struct<frc::Translation2d>::kSize;
static constexpr std::string_view kSchema =
"Translation2d front_left;Translation2d front_right;Translation2d "
"rear_left;Translation2d rear_right";
static frc::MecanumDriveKinematics Unpack(
std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::MecanumDriveKinematics& value);
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn);
};
static_assert(wpi::HasNestedStruct<frc::MecanumDriveKinematics>);

24
wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h Normal file
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@@ -0,0 +1,24 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/kinematics/MecanumDriveWheelPositions.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelPositions> {
static constexpr std::string_view kTypeString =
"struct:MecanumDriveWheelPositions";
static constexpr size_t kSize = 32;
static constexpr std::string_view kSchema =
"double front_left;double front_right;double rear_left;double rear_right";
static frc::MecanumDriveWheelPositions Unpack(
std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::MecanumDriveWheelPositions& value);
};

24
wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h Normal file
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@@ -0,0 +1,24 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelSpeeds> {
static constexpr std::string_view kTypeString =
"struct:MecanumDriveWheelSpeeds";
static constexpr size_t kSize = 32;
static constexpr std::string_view kSchema =
"double front_left;double front_right;double rear_left;double rear_right";
static frc::MecanumDriveWheelSpeeds Unpack(
std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::MecanumDriveWheelSpeeds& value);
};

26
wpimath/src/main/native/include/frc/kinematics/struct/SwerveModulePositionStruct.h Normal file
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@@ -0,0 +1,26 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/kinematics/SwerveModulePosition.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModulePosition> {
static constexpr std::string_view kTypeString = "struct:SwerveModulePosition";
static constexpr size_t kSize = 8 + wpi::Struct<frc::Rotation2d>::kSize;
static constexpr std::string_view kSchema =
"double distance;Rotation2d angle";
static frc::SwerveModulePosition Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::SwerveModulePosition& value);
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn);
};
static_assert(wpi::HasNestedStruct<frc::SwerveModulePosition>);

25
wpimath/src/main/native/include/frc/kinematics/struct/SwerveModuleStateStruct.h Normal file
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@@ -0,0 +1,25 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/kinematics/SwerveModuleState.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModuleState> {
static constexpr std::string_view kTypeString = "struct:SwerveModuleState";
static constexpr size_t kSize = 8 + wpi::Struct<frc::Rotation2d>::kSize;
static constexpr std::string_view kSchema = "double speed;Rotation2d angle";
static frc::SwerveModuleState Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::SwerveModuleState& value);
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn);
};
static_assert(wpi::HasNestedStruct<frc::SwerveModuleState>);

3
wpimath/src/main/native/include/frc/system/plant/DCMotor.h
View File

@@ -239,3 +239,6 @@ class WPILIB_DLLEXPORT DCMotor {
};
} // namespace frc
#include "frc/system/plant/proto/DCMotorProto.h"
#include "frc/system/plant/struct/DCMotorStruct.h"

17
wpimath/src/main/native/include/frc/system/plant/proto/DCMotorProto.h Normal file
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@@ -0,0 +1,17 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/system/plant/DCMotor.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DCMotor> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::DCMotor Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg, const frc::DCMotor& value);
};

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