[protobuf][wpimath] Move serde functions to separate classes

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java

@@ -10,18 +10,15 @@
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.math.geometry.proto.Pose2dProto;
+import edu.wpi.first.math.geometry.struct.Pose2dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
-import edu.wpi.first.math.proto.Geometry2D.ProtobufPose2d;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.util.protobuf.Protobuf;
-import edu.wpi.first.util.struct.Struct;
-import java.nio.ByteBuffer;
 import java.util.Collections;
 import java.util.Comparator;
 import java.util.List;
 import java.util.Objects;
-import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /** Represents a 2D pose containing translational and rotational elements. */
 @JsonIgnoreProperties(ignoreUnknown = true)
@@ -327,82 +324,6 @@ public Pose2d interpolate(Pose2d endValue, double t) {
     }
   }
 
-  public static final class AStruct implements Struct<Pose2d> {
-    @Override
-    public Class<Pose2d> getTypeClass() {
-      return Pose2d.class;
-    }
-
-    @Override
-    public String getTypeString() {
-      return "struct:Pose2d";
-    }
-
-    @Override
-    public int getSize() {
-      return Translation2d.struct.getSize() + Rotation2d.struct.getSize();
-    }
-
-    @Override
-    public String getSchema() {
-      return "Translation2d translation;Rotation2d rotation";
-    }
-
-    @Override
-    public Struct<?>[] getNested() {
-      return new Struct<?>[] {Translation2d.struct, Rotation2d.struct};
-    }
-
-    @Override
-    public Pose2d unpack(ByteBuffer bb) {
-      Translation2d translation = Translation2d.struct.unpack(bb);
-      Rotation2d rotation = Rotation2d.struct.unpack(bb);
-      return new Pose2d(translation, rotation);
-    }
-
-    @Override
-    public void pack(ByteBuffer bb, Pose2d value) {
-      Translation2d.struct.pack(bb, value.m_translation);
-      Rotation2d.struct.pack(bb, value.m_rotation);
-    }
-  }
-
-  public static final AStruct struct = new AStruct();
-
-  public static final class AProto implements Protobuf<Pose2d, ProtobufPose2d> {
-    @Override
-    public Class<Pose2d> getTypeClass() {
-      return Pose2d.class;
-    }
-
-    @Override
-    public Descriptor getDescriptor() {
-      return ProtobufPose2d.getDescriptor();
-    }
-
-    @Override
-    public Protobuf<?, ?>[] getNested() {
-      return new Protobuf<?, ?>[] {Translation2d.proto, Rotation2d.proto};
-    }
-
-    @Override
-    public ProtobufPose2d createMessage() {
-      return ProtobufPose2d.newInstance();
-    }
-
-    @Override
-    public Pose2d unpack(ProtobufPose2d msg) {
-      return new Pose2d(
-          Translation2d.proto.unpack(msg.getTranslation()),
-          Rotation2d.proto.unpack(msg.getRotation()));
-    }
-
-    @Override
-    public void pack(ProtobufPose2d msg, Pose2d value) {
-      Translation2d.proto.pack(msg.getMutableTranslation(), value.m_translation);
-      Rotation2d.proto.pack(msg.getMutableRotation(), value.m_rotation);
-    }
-  }
-
-  public static final AProto proto = new AProto();
+  public static final Pose2dStruct struct = new Pose2dStruct();
+  public static final Pose2dProto proto = new Pose2dProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java

@@ -9,13 +9,10 @@
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.WPIMathJNI;
+import edu.wpi.first.math.geometry.proto.Pose3dProto;
+import edu.wpi.first.math.geometry.struct.Pose3dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
-import edu.wpi.first.math.proto.Geometry3D.ProtobufPose3d;
-import edu.wpi.first.util.protobuf.Protobuf;
-import edu.wpi.first.util.struct.Struct;
-import java.nio.ByteBuffer;
 import java.util.Objects;
-import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /** Represents a 3D pose containing translational and rotational elements. */
 @JsonIgnoreProperties(ignoreUnknown = true)
@@ -324,82 +321,6 @@ public Pose3d interpolate(Pose3d endValue, double t) {
     }
   }
 
-  public static final class AStruct implements Struct<Pose3d> {
-    @Override
-    public Class<Pose3d> getTypeClass() {
-      return Pose3d.class;
-    }
-
-    @Override
-    public String getTypeString() {
-      return "struct:Pose3d";
-    }
-
-    @Override
-    public int getSize() {
-      return Translation3d.struct.getSize() + Rotation3d.struct.getSize();
-    }
-
-    @Override
-    public String getSchema() {
-      return "Translation3d translation;Rotation3d rotation";
-    }
-
-    @Override
-    public Struct<?>[] getNested() {
-      return new Struct<?>[] {Translation3d.struct, Rotation3d.struct};
-    }
-
-    @Override
-    public Pose3d unpack(ByteBuffer bb) {
-      Translation3d translation = Translation3d.struct.unpack(bb);
-      Rotation3d rotation = Rotation3d.struct.unpack(bb);
-      return new Pose3d(translation, rotation);
-    }
-
-    @Override
-    public void pack(ByteBuffer bb, Pose3d value) {
-      Translation3d.struct.pack(bb, value.m_translation);
-      Rotation3d.struct.pack(bb, value.m_rotation);
-    }
-  }
-
-  public static final AStruct struct = new AStruct();
-
-  public static final class AProto implements Protobuf<Pose3d, ProtobufPose3d> {
-    @Override
-    public Class<Pose3d> getTypeClass() {
-      return Pose3d.class;
-    }
-
-    @Override
-    public Descriptor getDescriptor() {
-      return ProtobufPose3d.getDescriptor();
-    }
-
-    @Override
-    public Protobuf<?, ?>[] getNested() {
-      return new Protobuf<?, ?>[] {Translation3d.proto, Rotation3d.proto};
-    }
-
-    @Override
-    public ProtobufPose3d createMessage() {
-      return ProtobufPose3d.newInstance();
-    }
-
-    @Override
-    public Pose3d unpack(ProtobufPose3d msg) {
-      return new Pose3d(
-          Translation3d.proto.unpack(msg.getTranslation()),
-          Rotation3d.proto.unpack(msg.getRotation()));
-    }
-
-    @Override
-    public void pack(ProtobufPose3d msg, Pose3d value) {
-      Translation3d.proto.pack(msg.getMutableTranslation(), value.m_translation);
-      Rotation3d.proto.pack(msg.getMutableRotation(), value.m_rotation);
-    }
-  }
-
-  public static final AProto proto = new AProto();
+  public static final Pose3dStruct struct = new Pose3dStruct();
+  public static final Pose3dProto proto = new Pose3dProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Quaternion.java

@@ -10,13 +10,10 @@
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.Vector;
+import edu.wpi.first.math.geometry.proto.QuaternionProto;
+import edu.wpi.first.math.geometry.struct.QuaternionStruct;
 import edu.wpi.first.math.numbers.N3;
-import edu.wpi.first.math.proto.Geometry3D.ProtobufQuaternion;
-import edu.wpi.first.util.protobuf.Protobuf;
-import edu.wpi.first.util.struct.Struct;
-import java.nio.ByteBuffer;
 import java.util.Objects;
-import us.hebi.quickbuf.Descriptors.Descriptor;
 
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
@@ -406,73 +403,6 @@ public Vector<N3> toRotationVector() {
     return VecBuilder.fill(coeff * getX(), coeff * getY(), coeff * getZ());
   }
 
-  public static final class AStruct implements Struct<Quaternion> {
-    @Override
-    public Class<Quaternion> getTypeClass() {
-      return Quaternion.class;
-    }
-
-    @Override
-    public String getTypeString() {
-      return "struct:Quaternion";
-    }
-
-    @Override
-    public int getSize() {
-      return kSizeDouble * 4;
-    }
-
-    @Override
-    public String getSchema() {
-      return "double w;double x;double y;double z";
-    }
-
-    @Override
-    public Quaternion unpack(ByteBuffer bb) {
-      double w = bb.getDouble();
-      double x = bb.getDouble();
-      double y = bb.getDouble();
-      double z = bb.getDouble();
-      return new Quaternion(w, x, y, z);
-    }
-
-    @Override
-    public void pack(ByteBuffer bb, Quaternion value) {
-      bb.putDouble(value.getW());
-      bb.putDouble(value.getX());
-      bb.putDouble(value.getY());
-      bb.putDouble(value.getZ());
-    }
-  }
-
-  public static final AStruct struct = new AStruct();
-
-  public static final class AProto implements Protobuf<Quaternion, ProtobufQuaternion> {
-    @Override
-    public Class<Quaternion> getTypeClass() {
-      return Quaternion.class;
-    }
-
-    @Override
-    public Descriptor getDescriptor() {
-      return ProtobufQuaternion.getDescriptor();
-    }
-
-    @Override
-    public ProtobufQuaternion createMessage() {
-      return ProtobufQuaternion.newInstance();
-    }
-
-    @Override
-    public Quaternion unpack(ProtobufQuaternion msg) {
-      return new Quaternion(msg.getW(), msg.getX(), msg.getY(), msg.getZ());
-    }
-
-    @Override
-    public void pack(ProtobufQuaternion msg, Quaternion value) {
-      msg.setW(value.getW()).setX(value.getX()).setY(value.getY()).setZ(value.getZ());
-    }
-  }
-
-  public static final AProto proto = new AProto();
+  public static final QuaternionStruct struct = new QuaternionStruct();
+  public static final QuaternionProto proto = new QuaternionProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java

@@ -11,16 +11,13 @@
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.geometry.proto.Rotation2dProto;
+import edu.wpi.first.math.geometry.struct.Rotation2dStruct;
 import edu.wpi.first.math.interpolation.Interpolatable;
-import edu.wpi.first.math.proto.Geometry2D.ProtobufRotation2d;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.Angle;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.util.protobuf.Protobuf;
-import edu.wpi.first.util.struct.Struct;
-import java.nio.ByteBuffer;
 import java.util.Objects;
-import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /**
  * A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine).
@@ -275,66 +272,6 @@ public Rotation2d interpolate(Rotation2d endValue, double t) {
     return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1)));
   }
 
-  public static final class AStruct implements Struct<Rotation2d> {
-    @Override
-    public Class<Rotation2d> getTypeClass() {
-      return Rotation2d.class;
-    }
-
-    @Override
-    public String getTypeString() {
-      return "struct:Rotation2d";
-    }
-
-    @Override
-    public int getSize() {
-      return kSizeDouble;
-    }
-
-    @Override
-    public String getSchema() {
-      return "double value";
-    }
-
-    @Override
-    public Rotation2d unpack(ByteBuffer bb) {
-      return new Rotation2d(bb.getDouble());
-    }
-
-    @Override
-    public void pack(ByteBuffer bb, Rotation2d value) {
-      bb.putDouble(value.m_value);
-    }
-  }
-
-  public static final AStruct struct = new AStruct();
-
-  public static final class AProto implements Protobuf<Rotation2d, ProtobufRotation2d> {
-    @Override
-    public Class<Rotation2d> getTypeClass() {
-      return Rotation2d.class;
-    }
-
-    @Override
-    public Descriptor getDescriptor() {
-      return ProtobufRotation2d.getDescriptor();
-    }
-
-    @Override
-    public ProtobufRotation2d createMessage() {
-      return ProtobufRotation2d.newInstance();
-    }
-
-    @Override
-    public Rotation2d unpack(ProtobufRotation2d msg) {
-      return new Rotation2d(msg.getValue());
-    }
-
-    @Override
-    public void pack(ProtobufRotation2d msg, Rotation2d value) {
-      msg.setValue(value.m_value);
-    }
-  }
-
-  public static final AProto proto = new AProto();
+  public static final Rotation2dStruct struct = new Rotation2dStruct();
+  public static final Rotation2dProto proto = new Rotation2dProto();
 }