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.geometry.Rotation2d;
008import edu.wpi.first.math.kinematics.SwerveModulePosition;
009import edu.wpi.first.math.proto.Kinematics.ProtobufSwerveModulePosition;
010import edu.wpi.first.util.protobuf.Protobuf;
011import us.hebi.quickbuf.Descriptors.Descriptor;
012
013public class SwerveModulePositionProto
014    implements Protobuf<SwerveModulePosition, ProtobufSwerveModulePosition> {
015  @Override
016  public Class<SwerveModulePosition> getTypeClass() {
017    return SwerveModulePosition.class;
018  }
019
020  @Override
021  public Descriptor getDescriptor() {
022    return ProtobufSwerveModulePosition.getDescriptor();
023  }
024
025  @Override
026  public ProtobufSwerveModulePosition createMessage() {
027    return ProtobufSwerveModulePosition.newInstance();
028  }
029
030  @Override
031  public SwerveModulePosition unpack(ProtobufSwerveModulePosition msg) {
032    return new SwerveModulePosition(msg.getDistance(), Rotation2d.proto.unpack(msg.getAngle()));
033  }
034
035  @Override
036  public void pack(ProtobufSwerveModulePosition msg, SwerveModulePosition value) {
037    msg.setDistance(value.distanceMeters);
038    Rotation2d.proto.pack(msg.getMutableAngle(), value.angle);
039  }
040}