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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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32
wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.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/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());
}