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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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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
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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/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
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@@ -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);
};

22
wpimath/src/main/native/include/frc/system/plant/struct/DCMotorStruct.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/system/plant/DCMotor.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::DCMotor> {
static constexpr std::string_view kTypeString = "struct:DCMotor";
static constexpr size_t kSize = 40;
static constexpr std::string_view kSchema =
"double nominal_voltage;double stall_torque;double stall_current;double "
"free_current;double free_speed";
static frc::DCMotor Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data, const frc::DCMotor& value);
};

3
wpimath/src/main/native/include/frc/trajectory/Trajectory.h
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@@ -145,3 +145,6 @@ WPILIB_DLLEXPORT
void from_json(const wpi::json& json, Trajectory::State& state);
} // namespace frc
#include "frc/trajectory/proto/TrajectoryProto.h"
#include "frc/trajectory/proto/TrajectoryStateProto.h"

18
wpimath/src/main/native/include/frc/trajectory/proto/TrajectoryProto.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/trajectory/Trajectory.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Trajectory> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Trajectory Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Trajectory& value);
};

18
wpimath/src/main/native/include/frc/trajectory/proto/TrajectoryStateProto.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/trajectory/Trajectory.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Trajectory::State> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Trajectory::State Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Trajectory::State& value);
};