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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/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);
};