[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/native/include/frc/controller/ArmFeedforward.h

@@ -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"

wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h

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

wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h

@@ -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"

wpimath/src/main/native/include/frc/controller/proto/ArmFeedforwardProto.h

@@ -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);
+};

wpimath/src/main/native/include/frc/controller/proto/DifferentialDriveWheelVoltagesProto.h

@@ -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);
+};

wpimath/src/main/native/include/frc/controller/proto/ElevatorFeedforwardProto.h

@@ -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);
+};

wpimath/src/main/native/include/frc/controller/struct/ArmFeedforwardStruct.h

@@ -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);
+};

wpimath/src/main/native/include/frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h

@@ -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);
+};

wpimath/src/main/native/include/frc/controller/struct/ElevatorFeedforwardStruct.h

@@ -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);
+};