[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/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp

@@ -0,0 +1,33 @@
+// 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 <gtest/gtest.h>
+
+#include "controller.pb.h"
+#include "frc/controller/ArmFeedforward.h"
+
+using namespace frc;
+
+namespace {
+
+using ProtoType = wpi::Protobuf<frc::ArmFeedforward>;
+
+static constexpr auto Ks = 1.91_V;
+static constexpr auto Kg = 2.29_V;
+static constexpr auto Kv = 35.04_V * 1_s / 1_rad;
+static constexpr auto Ka = 1.74_V * 1_s * 1_s / 1_rad;
+const ArmFeedforward kExpectedData{Ks, Kg, Kv, Ka};
+}  // namespace
+
+TEST(ArmFeedforwardProtoTest, Roundtrip) {
+  google::protobuf::Arena arena;
+  google::protobuf::Message* proto = ProtoType::New(&arena);
+  ProtoType::Pack(proto, kExpectedData);
+
+  ArmFeedforward unpacked_data = ProtoType::Unpack(*proto);
+  EXPECT_EQ(kExpectedData.kS.value(), unpacked_data.kS.value());
+  EXPECT_EQ(kExpectedData.kG.value(), unpacked_data.kG.value());
+  EXPECT_EQ(kExpectedData.kV.value(), unpacked_data.kV.value());
+  EXPECT_EQ(kExpectedData.kA.value(), unpacked_data.kA.value());
+}

wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp

@@ -0,0 +1,28 @@
+// 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 <gtest/gtest.h>
+
+#include "controller.pb.h"
+#include "frc/controller/DifferentialDriveWheelVoltages.h"
+
+using namespace frc;
+
+namespace {
+
+using ProtoType = wpi::Protobuf<frc::DifferentialDriveWheelVoltages>;
+
+const DifferentialDriveWheelVoltages kExpectedData =
+    DifferentialDriveWheelVoltages{0.174_V, 0.191_V};
+}  // namespace
+
+TEST(DifferentialDriveWheelVoltagesProtoTest, Roundtrip) {
+  google::protobuf::Arena arena;
+  google::protobuf::Message* proto = ProtoType::New(&arena);
+  ProtoType::Pack(proto, kExpectedData);
+
+  DifferentialDriveWheelVoltages unpacked_data = ProtoType::Unpack(*proto);
+  EXPECT_EQ(kExpectedData.left.value(), unpacked_data.left.value());
+  EXPECT_EQ(kExpectedData.right.value(), unpacked_data.right.value());
+}

wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp

@@ -0,0 +1,34 @@
+// 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 <gtest/gtest.h>
+
+#include "controller.pb.h"
+#include "frc/controller/ElevatorFeedforward.h"
+
+using namespace frc;
+
+namespace {
+
+using ProtoType = wpi::Protobuf<frc::ElevatorFeedforward>;
+
+static constexpr auto Ks = 1.91_V;
+static constexpr auto Kg = 2.29_V;
+static constexpr auto Kv = 35.04_V * 1_s / 1_m;
+static constexpr auto Ka = 1.74_V * 1_s * 1_s / 1_m;
+
+constexpr ElevatorFeedforward kExpectedData{Ks, Kg, Kv, Ka};
+}  // namespace
+
+TEST(ElevatorFeedforwardProtoTest, Roundtrip) {
+  google::protobuf::Arena arena;
+  google::protobuf::Message* proto = ProtoType::New(&arena);
+  ProtoType::Pack(proto, kExpectedData);
+
+  ElevatorFeedforward unpacked_data = ProtoType::Unpack(*proto);
+  EXPECT_EQ(kExpectedData.kS.value(), unpacked_data.kS.value());
+  EXPECT_EQ(kExpectedData.kG.value(), unpacked_data.kG.value());
+  EXPECT_EQ(kExpectedData.kV.value(), unpacked_data.kV.value());
+  EXPECT_EQ(kExpectedData.kA.value(), unpacked_data.kA.value());
+}

wpimath/src/test/native/cpp/controller/struct/ArmFeedforwardStructTest.cpp

@@ -0,0 +1,33 @@
+// 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 <gtest/gtest.h>
+
+#include "frc/controller/ArmFeedforward.h"
+
+using namespace frc;
+
+namespace {
+
+using StructType = wpi::Struct<frc::ArmFeedforward>;
+
+static constexpr auto Ks = 1.91_V;
+static constexpr auto Kg = 2.29_V;
+static constexpr auto Kv = 35.04_V * 1_s / 1_rad;
+static constexpr auto Ka = 1.74_V * 1_s * 1_s / 1_rad;
+const ArmFeedforward kExpectedData{Ks, Kg, Kv, Ka};
+}  // namespace
+
+TEST(ArmFeedforwardStructTest, Roundtrip) {
+  uint8_t buffer[StructType::kSize];
+  std::memset(buffer, 0, StructType::kSize);
+  StructType::Pack(buffer, kExpectedData);
+
+  ArmFeedforward unpacked_data = StructType::Unpack(buffer);
+
+  EXPECT_EQ(kExpectedData.kS.value(), unpacked_data.kS.value());
+  EXPECT_EQ(kExpectedData.kG.value(), unpacked_data.kG.value());
+  EXPECT_EQ(kExpectedData.kV.value(), unpacked_data.kV.value());
+  EXPECT_EQ(kExpectedData.kA.value(), unpacked_data.kA.value());
+}

wpimath/src/test/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStructTest.cpp

@@ -0,0 +1,27 @@
+// 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 <gtest/gtest.h>
+
+#include "frc/controller/DifferentialDriveWheelVoltages.h"
+
+using namespace frc;
+
+namespace {
+
+using StructType = wpi::Struct<frc::DifferentialDriveWheelVoltages>;
+const DifferentialDriveWheelVoltages kExpectedData{
+    DifferentialDriveWheelVoltages{0.174_V, 0.191_V}};
+}  // namespace
+
+TEST(DifferentialDriveWheelVoltagesStructTest, Roundtrip) {
+  uint8_t buffer[StructType::kSize];
+  std::memset(buffer, 0, StructType::kSize);
+  StructType::Pack(buffer, kExpectedData);
+
+  DifferentialDriveWheelVoltages unpacked_data = StructType::Unpack(buffer);
+
+  EXPECT_EQ(kExpectedData.left.value(), unpacked_data.left.value());
+  EXPECT_EQ(kExpectedData.right.value(), unpacked_data.right.value());
+}

wpimath/src/test/native/cpp/controller/struct/ElevatorFeedforwardStructTest.cpp

@@ -0,0 +1,34 @@
+// 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 <gtest/gtest.h>
+
+#include "frc/controller/ElevatorFeedforward.h"
+
+using namespace frc;
+
+namespace {
+
+using StructType = wpi::Struct<frc::ElevatorFeedforward>;
+
+static constexpr auto Ks = 1.91_V;
+static constexpr auto Kg = 2.29_V;
+static constexpr auto Kv = 35.04_V * 1_s / 1_m;
+static constexpr auto Ka = 1.74_V * 1_s * 1_s / 1_m;
+
+constexpr ElevatorFeedforward kExpectedData{Ks, Kg, Kv, Ka};
+}  // namespace
+
+TEST(ElevatorFeedforwardStructTest, Roundtrip) {
+  uint8_t buffer[StructType::kSize];
+  std::memset(buffer, 0, StructType::kSize);
+  StructType::Pack(buffer, kExpectedData);
+
+  ElevatorFeedforward unpacked_data = StructType::Unpack(buffer);
+
+  EXPECT_EQ(kExpectedData.kS.value(), unpacked_data.kS.value());
+  EXPECT_EQ(kExpectedData.kG.value(), unpacked_data.kG.value());
+  EXPECT_EQ(kExpectedData.kV.value(), unpacked_data.kV.value());
+  EXPECT_EQ(kExpectedData.kA.value(), unpacked_data.kA.value());
+}