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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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33
wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.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/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());
}