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

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.

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

@@ -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.

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

@@ -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) {

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

@@ -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.

wpimath/src/main/java/edu/wpi/first/math/controller/proto/ArmFeedforwardProto.java

@@ -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);
+  }
+}

wpimath/src/main/java/edu/wpi/first/math/controller/proto/DifferentialDriveWheelVoltagesProto.java

@@ -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);
+  }
+}

wpimath/src/main/java/edu/wpi/first/math/controller/proto/ElevatorFeedforwardProto.java

@@ -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);
+  }
+}

wpimath/src/main/java/edu/wpi/first/math/controller/struct/ArmFeedforwardStruct.java

@@ -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);
+  }
+}

wpimath/src/main/java/edu/wpi/first/math/controller/struct/DifferentialDriveWheelVoltagesStruct.java

@@ -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);
+  }
+}

wpimath/src/main/java/edu/wpi/first/math/controller/struct/ElevatorFeedforwardStruct.java

@@ -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);
+  }
+}