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 edu.wpi.first.math.kinematics.proto;
006
007import edu.wpi.first.math.kinematics.DifferentialDriveWheelPositions;
008import edu.wpi.first.math.proto.Kinematics.ProtobufDifferentialDriveWheelPositions;
009import edu.wpi.first.util.protobuf.Protobuf;
010import us.hebi.quickbuf.Descriptors.Descriptor;
011
012public class DifferentialDriveWheelPositionsProto
013    implements Protobuf<DifferentialDriveWheelPositions, ProtobufDifferentialDriveWheelPositions> {
014  @Override
015  public Class<DifferentialDriveWheelPositions> getTypeClass() {
016    return DifferentialDriveWheelPositions.class;
017  }
018
019  @Override
020  public Descriptor getDescriptor() {
021    return ProtobufDifferentialDriveWheelPositions.getDescriptor();
022  }
023
024  @Override
025  public ProtobufDifferentialDriveWheelPositions createMessage() {
026    return ProtobufDifferentialDriveWheelPositions.newInstance();
027  }
028
029  @Override
030  public DifferentialDriveWheelPositions unpack(ProtobufDifferentialDriveWheelPositions msg) {
031    return new DifferentialDriveWheelPositions(msg.getLeft(), msg.getRight());
032  }
033
034  @Override
035  public void pack(
036      ProtobufDifferentialDriveWheelPositions msg, DifferentialDriveWheelPositions value) {
037    msg.setLeft(value.leftMeters);
038    msg.setRight(value.rightMeters);
039  }
040}