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[wpimath] Merge .inc files into headers (#7209)

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Splitting the files didn't help readability or save compilation time and
it confused contributors. Merging them is also in line with how C++
modules will be written.
This commit is contained in:
Tyler Veness
2024-10-14 16:08:10 -07:00
committed by GitHub
parent bedfc09268
commit ee281ea448
55 changed files with 1646 additions and 2531 deletions
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44
wpimath/src/main/native/include/frc/proto/MatrixProto.h
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@@ -4,19 +4,53 @@
#pragma once
#include <stdexcept>
#include <fmt/format.h>
#include <wpi/ProtoHelper.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/EigenCore.h"
#include "wpimath.pb.h"
template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
requires(Cols != 1)
struct wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static google::protobuf::Message* New(google::protobuf::Arena* arena) {
return wpi::CreateMessage<wpi::proto::ProtobufMatrix>(arena);
}
static frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> Unpack(
const google::protobuf::Message& msg);
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufMatrix*>(&msg);
if (m->num_rows() != Rows || m->num_cols() != Cols) {
throw std::invalid_argument(fmt::format(
"Tried to unpack message with {} rows and {} columns into "
"Matrix with {} rows and {} columns",
m->num_rows(), m->num_cols(), Rows, Cols));
}
if (m->data_size() != Rows * Cols) {
throw std::invalid_argument(
fmt::format("Tried to unpack message with {} elements in data into "
"Matrix with {} elements",
m->data_size(), Rows * Cols));
}
frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> mat;
for (int i = 0; i < Rows * Cols; i++) {
mat(i) = m->data(i);
}
return mat;
}
static void Pack(
google::protobuf::Message* msg,
const frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value);
const frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value) {
auto m = static_cast<wpi::proto::ProtobufMatrix*>(msg);
m->set_num_rows(Rows);
m->set_num_cols(Cols);
m->clear_data();
for (int i = 0; i < Rows * Cols; i++) {
m->add_data(value(i));
}
}
};
#include "frc/proto/MatrixProto.inc"

60
wpimath/src/main/native/include/frc/proto/MatrixProto.inc
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@@ -1,60 +0,0 @@
// 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 <stdexcept>
#include <fmt/format.h>
#include <wpi/ProtoHelper.h>
#include "frc/proto/MatrixProto.h"
#include "wpimath.pb.h"
template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
requires(Cols != 1)
google::protobuf::Message*
wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>::New(
google::protobuf::Arena* arena) {
return wpi::CreateMessage<wpi::proto::ProtobufMatrix>(arena);
}
template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
requires(Cols != 1)
frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>
wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufMatrix*>(&msg);
if (m->num_rows() != Rows || m->num_cols() != Cols) {
throw std::invalid_argument(
fmt::format("Tried to unpack message with {} rows and {} columns into "
"Matrix with {} rows and {} columns",
m->num_rows(), m->num_cols(), Rows, Cols));
}
if (m->data_size() != Rows * Cols) {
throw std::invalid_argument(
fmt::format("Tried to unpack message with {} elements in data into "
"Matrix with {} elements",
m->data_size(), Rows * Cols));
}
frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> mat;
for (int i = 0; i < Rows * Cols; i++) {
mat(i) = m->data(i);
}
return mat;
}
template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
requires(Cols != 1)
void wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>::Pack(
google::protobuf::Message* msg,
const frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value) {
auto m = static_cast<wpi::proto::ProtobufMatrix*>(msg);
m->set_num_rows(Rows);
m->set_num_cols(Cols);
m->clear_data();
for (int i = 0; i < Rows * Cols; i++) {
m->add_data(value(i));
}
}

36
wpimath/src/main/native/include/frc/proto/VectorProto.h
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@@ -4,18 +4,44 @@
#pragma once
#include <stdexcept>
#include <fmt/format.h>
#include <wpi/ProtoHelper.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/EigenCore.h"
#include "wpimath.pb.h"
template <int Size, int Options, int MaxRows, int MaxCols>
struct wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static google::protobuf::Message* New(google::protobuf::Arena* arena) {
return wpi::CreateMessage<wpi::proto::ProtobufVector>(arena);
}
static frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> Unpack(
const google::protobuf::Message& msg);
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufVector*>(&msg);
if (m->rows_size() != Size) {
throw std::invalid_argument(
fmt::format("Tried to unpack message with {} elements in rows into "
"Vector with {} rows",
m->rows_size(), Size));
}
frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> vec;
for (int i = 0; i < Size; i++) {
vec(i) = m->rows(i);
}
return vec;
}
static void Pack(
google::protobuf::Message* msg,
const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value);
const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
auto m = static_cast<wpi::proto::ProtobufVector*>(msg);
m->clear_rows();
for (int i = 0; i < Size; i++) {
m->add_rows(value(i));
}
}
};
#include "frc/proto/VectorProto.inc"

49
wpimath/src/main/native/include/frc/proto/VectorProto.inc
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@@ -1,49 +0,0 @@
// 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 <stdexcept>
#include <fmt/format.h>
#include <wpi/ProtoHelper.h>
#include "frc/proto/VectorProto.h"
#include "wpimath.pb.h"
template <int Size, int Options, int MaxRows, int MaxCols>
google::protobuf::Message*
wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>::New(
google::protobuf::Arena* arena) {
return wpi::CreateMessage<wpi::proto::ProtobufVector>(arena);
}
template <int Size, int Options, int MaxRows, int MaxCols>
frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>
wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufVector*>(&msg);
if (m->rows_size() != Size) {
throw std::invalid_argument(
fmt::format("Tried to unpack message with {} elements in rows into "
"Vector with {} rows",
m->rows_size(), Size));
}
frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> vec;
for (int i = 0; i < Size; i++) {
vec(i) = m->rows(i);
}
return vec;
}
template <int Size, int Options, int MaxRows, int MaxCols>
void wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>::Pack(
google::protobuf::Message* msg,
const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
auto m = static_cast<wpi::proto::ProtobufVector*>(msg);
m->clear_rows();
for (int i = 0; i < Size; i++) {
m->add_rows(value(i));
}
}