mirror of
https://github.com/wpilibsuite/allwpilib
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50 lines
1.6 KiB
C++
50 lines
1.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <stdexcept>
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#include <fmt/format.h>
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#include <wpi/ProtoHelper.h>
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#include "frc/proto/VectorProto.h"
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#include "wpimath.pb.h"
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template <int Size, int Options, int MaxRows, int MaxCols>
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google::protobuf::Message*
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wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>::New(
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google::protobuf::Arena* arena) {
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return wpi::CreateMessage<wpi::proto::ProtobufVector>(arena);
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}
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template <int Size, int Options, int MaxRows, int MaxCols>
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frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>
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wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>::Unpack(
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const google::protobuf::Message& msg) {
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auto m = static_cast<const wpi::proto::ProtobufVector*>(&msg);
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if (m->rows_size() != Size) {
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throw std::invalid_argument(
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fmt::format("Tried to unpack message with {} elements in rows into "
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"Vector with {} rows",
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m->rows_size(), Size));
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}
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frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> vec;
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for (int i = 0; i < Size; i++) {
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vec(i) = m->rows(i);
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}
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return vec;
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}
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template <int Size, int Options, int MaxRows, int MaxCols>
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void wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>::Pack(
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google::protobuf::Message* msg,
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const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
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auto m = static_cast<wpi::proto::ProtobufVector*>(msg);
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m->clear_rows();
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for (int i = 0; i < Size; i++) {
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m->add_rows(value(i));
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}
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}
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