001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package org.wpilib.math.kinematics.proto;
006
007import org.wpilib.math.geometry.Rotation2d;
008import org.wpilib.math.kinematics.SwerveModuleVelocity;
009import org.wpilib.math.proto.ProtobufSwerveModuleVelocity;
010import org.wpilib.util.protobuf.Protobuf;
011import us.hebi.quickbuf.Descriptors.Descriptor;
012
013public class SwerveModuleVelocityProto
014    implements Protobuf<SwerveModuleVelocity, ProtobufSwerveModuleVelocity> {
015  @Override
016  public Class<SwerveModuleVelocity> getTypeClass() {
017    return SwerveModuleVelocity.class;
018  }
019
020  @Override
021  public Descriptor getDescriptor() {
022    return ProtobufSwerveModuleVelocity.getDescriptor();
023  }
024
025  @Override
026  public ProtobufSwerveModuleVelocity createMessage() {
027    return ProtobufSwerveModuleVelocity.newInstance();
028  }
029
030  @Override
031  public SwerveModuleVelocity unpack(ProtobufSwerveModuleVelocity msg) {
032    return new SwerveModuleVelocity(msg.getVelocity(), Rotation2d.proto.unpack(msg.getAngle()));
033  }
034
035  @Override
036  public void pack(ProtobufSwerveModuleVelocity msg, SwerveModuleVelocity value) {
037    msg.setVelocity(value.velocity);
038    Rotation2d.proto.pack(msg.getMutableAngle(), value.angle);
039  }
040}