[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/kinematics/proto/ChassisSpeedsProto.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/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);
+};

wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveKinematicsProto.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/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);
+};

wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.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/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);
+};

wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveKinematicsProto.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/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);
+};

wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveWheelPositionsProto.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/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);
+};

wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveWheelSpeedsProto.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/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);
+};

wpimath/src/main/native/include/frc/kinematics/proto/SwerveModulePositionProto.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/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);
+};

wpimath/src/main/native/include/frc/kinematics/proto/SwerveModuleStateProto.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/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);
+};