Add structured binding support for wpimath objects

robotpy · Dec 29, 2023 · b43c0ef · b43c0ef
1 parent bc0a559
commit b43c0ef
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Showing 21 changed files with 98 additions and 5 deletions.
diff --git a/subprojects/robotpy-wpimath/gen/controls/ArmFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/ArmFeedforward.yml
@@ -25,3 +25,9 @@ classes:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
       MinAchievableAcceleration:
+
+extra_includes:
+- wpystruct.h
+
+inline_code: |
+  SetupWPyStruct<frc::ArmFeedforward>(cls_ArmFeedforward);
diff --git a/subprojects/robotpy-wpimath/gen/controls/DCMotor.yml b/subprojects/robotpy-wpimath/gen/controls/DCMotor.yml
@@ -1,5 +1,8 @@
 ---
 
+extra_includes:
+- wpystruct.h
+
 classes:
   DCMotor:
     shared_ptr: true
@@ -36,3 +39,6 @@ classes:
       KrakenX60:
       KrakenX60FOC:
       NeoVortex:
+
+inline_code: |
+  SetupWPyStruct<frc::DCMotor>(cls_DCMotor);
diff --git a/subprojects/robotpy-wpimath/gen/controls/DifferentialDriveWheelVoltages.yml b/subprojects/robotpy-wpimath/gen/controls/DifferentialDriveWheelVoltages.yml
@@ -8,6 +8,9 @@ classes:
       left:
       right:
 
+extra_includes:
+- wpystruct.h
+
 inline_code:
   cls_DifferentialDriveWheelVoltages
     .def(py::init<units::volt_t, units::volt_t>(),
@@ -17,4 +20,6 @@ inline_code:
         "left=" + std::to_string(self->left()) + ","
         "right=" + std::to_string(self->right()) + ")";
     })
-  ;
+  ;
+
+  SetupWPyStruct<frc::DifferentialDriveWheelVoltages>(cls_DifferentialDriveWheelVoltages);
diff --git a/subprojects/robotpy-wpimath/gen/controls/ElevatorFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/ElevatorFeedforward.yml
@@ -21,3 +21,9 @@ classes:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
       MinAchievableAcceleration:
+
+extra_includes:
+- wpystruct.h
+
+inline_code: |
+  SetupWPyStruct<frc::ElevatorFeedforward>(cls_ElevatorFeedforward);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Pose2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Pose2d.yml
@@ -1,6 +1,7 @@
 ---
 extra_includes:
   - rpy/geometryToString.h
+  - wpystruct.h
 
 functions:
   to_json:
@@ -62,3 +63,5 @@ inline_code: |
       return self->Y();
     })
     .def("__repr__", py::overload_cast<const Pose2d&>(&rpy::toString));
+
+  SetupWPyStruct<frc::Pose2d>(cls_Pose2d);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Pose3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Pose3d.yml
@@ -1,6 +1,7 @@
 ---
 extra_includes:
   - rpy/geometryToString.h
+  - wpystruct.h
 
 functions:
   to_json:
@@ -53,3 +54,5 @@ inline_code: |
       return self->Z();
     })
     .def("__repr__", py::overload_cast<const Pose3d&>(&rpy::toString));
+
+  SetupWPyStruct<frc::Pose3d>(cls_Pose3d);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Quaternion.yml b/subprojects/robotpy-wpimath/gen/geometry/Quaternion.yml
@@ -1,6 +1,7 @@
 ---
 extra_includes:
   - rpy/geometryToString.h
+  - wpystruct.h
 
 functions:
   to_json:
@@ -44,4 +45,6 @@ classes:
 
 inline_code: |
   cls_Quaternion
-    .def("__repr__", py::overload_cast<const Quaternion&>(&rpy::toString));
+    .def("__repr__", py::overload_cast<const Quaternion&>(&rpy::toString));
+
+  SetupWPyStruct<frc::Quaternion>(cls_Quaternion);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Rotation2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Rotation2d.yml
@@ -1,6 +1,7 @@
 ---
 extra_includes:
   - rpy/geometryToString.h
+  - wpystruct.h
 
 functions:
   to_json:
@@ -42,3 +43,5 @@ inline_code: |
       return std::make_unique<Rotation2d>(value);
     }, py::arg("value"))
     .def("__repr__", py::overload_cast<const Rotation2d&>(&rpy::toString));
+
+  SetupWPyStruct<frc::Rotation2d>(cls_Rotation2d);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Rotation3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Rotation3d.yml
@@ -1,6 +1,7 @@
 ---
 extra_includes:
   - rpy/geometryToString.h
+  - wpystruct.h
 
 functions:
   to_json:
@@ -59,4 +60,6 @@ inline_code: |
     .def_property_readonly("angle_degrees", [](const Rotation3d * self) -> units::degree_t {
       return self->Angle();
     })
-    .def("__repr__", py::overload_cast<const Rotation3d&>(&rpy::toString));
+    .def("__repr__", py::overload_cast<const Rotation3d&>(&rpy::toString));
+
+  SetupWPyStruct<frc::Rotation3d>(cls_Rotation3d);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Transform2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Transform2d.yml
@@ -3,6 +3,7 @@
 extra_includes:
 - frc/geometry/Pose2d.h
 - rpy/geometryToString.h
+- wpystruct.h
 
 classes:
   Transform2d:
@@ -47,3 +48,5 @@ inline_code: |
     })
     .def("__repr__", py::overload_cast<const Transform2d&>(&rpy::toString));
   ;
+
+  SetupWPyStruct<frc::Transform2d>(cls_Transform2d);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Transform3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Transform3d.yml
@@ -1,6 +1,7 @@
 ---
 extra_includes:
   - rpy/geometryToString.h
+  - wpystruct.h
 
 functions:
   to_json:
@@ -45,3 +46,5 @@ inline_code: |
       return self->Z();
     })
     .def("__repr__", py::overload_cast<const Transform3d&>(&rpy::toString));
+
+  SetupWPyStruct<frc::Transform3d>(cls_Transform3d);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Translation2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Translation2d.yml
@@ -1,6 +1,7 @@
 ---
 extra_includes:
   - rpy/geometryToString.h
+  - wpystruct.h
 
 functions:
   to_json:
@@ -73,3 +74,5 @@ inline_code: |
       }
     })
     .def("__repr__", py::overload_cast<const Translation2d&>(&rpy::toString));
+
+  SetupWPyStruct<frc::Translation2d>(cls_Translation2d);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Translation3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Translation3d.yml
@@ -1,6 +1,7 @@
 ---
 extra_includes:
   - rpy/geometryToString.h
+  - wpystruct.h
 
 functions:
   to_json:
@@ -71,3 +72,5 @@ inline_code: |
       }
     })
     .def("__repr__", py::overload_cast<const Translation3d&>(&rpy::toString));
+
+  SetupWPyStruct<frc::Translation3d>(cls_Translation3d);
diff --git a/subprojects/robotpy-wpimath/gen/geometry/Twist2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Twist2d.yml
@@ -1,5 +1,8 @@
 ---
 
+extra_includes:
+- wpystruct.h
+
 classes:
   Twist2d:
     force_no_default_constructor: true
@@ -53,3 +56,5 @@ inline_code: |
                      "dtheta=" + std::to_string(tw.dtheta()) + ")";
     })
   ;
+
+  SetupWPyStruct<frc::Twist2d>(cls_Twist2d);
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/ChassisSpeeds.yml b/subprojects/robotpy-wpimath/gen/kinematics/ChassisSpeeds.yml
@@ -1,5 +1,8 @@
 ---
 
+extra_includes:
+- wpystruct.h
+
 classes:
   ChassisSpeeds:
     force_no_default_constructor: true
@@ -71,3 +74,5 @@ inline_code: |
                            "omega=" + std::to_string(cs.omega()) + ")";
     })
   ;
+
+  SetupWPyStruct<frc::ChassisSpeeds>(cls_ChassisSpeeds);
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveKinematics.yml b/subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveKinematics.yml
@@ -1,5 +1,8 @@
 ---
 
+extra_includes:
+- wpystruct.h
+
 classes:
   DifferentialDriveKinematics:
     attributes:
@@ -9,3 +12,6 @@ classes:
       ToChassisSpeeds:
       ToWheelSpeeds:
       ToTwist2d:
+
+inline_code: |
+  SetupWPyStruct<frc::DifferentialDriveKinematics>(cls_DifferentialDriveKinematics);
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveWheelSpeeds.yml b/subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveWheelSpeeds.yml
@@ -1,5 +1,8 @@
 ---
 
+extra_includes:
+- wpystruct.h
+
 classes:
   DifferentialDriveWheelSpeeds:
     force_no_default_constructor: true
@@ -50,3 +53,5 @@ inline_code: |
     })
   ;
 
+  SetupWPyStruct<frc::DifferentialDriveWheelSpeeds>(cls_DifferentialDriveWheelSpeeds);
+
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveKinematics.yml b/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveKinematics.yml
@@ -1,5 +1,8 @@
 ---
 
+extra_includes:
+- wpystruct.h
+
 classes:
   MecanumDriveKinematics:
     methods:
@@ -37,3 +40,6 @@ classes:
       GetFrontRightWheel:
       GetRearLeftWheel:
       GetRearRightWheel:
+
+inline_code: |
+  SetupWPyStruct<frc::MecanumDriveKinematics>(cls_MecanumDriveKinematics);
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveWheelSpeeds.yml b/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveWheelSpeeds.yml
@@ -1,5 +1,8 @@
 ---
 
+extra_includes:
+- wpystruct.h
+
 classes:
   MecanumDriveWheelSpeeds:
     force_no_default_constructor: true
@@ -77,4 +80,6 @@ inline_code: |
                                      "rearLeft=" + std::to_string(ms.rearLeft()) + ", "
                                      "rearRight=" + std::to_string(ms.rearRight()) + ")";
     })
-  ;
+  ;
+
+  SetupWPyStruct<frc::MecanumDriveWheelSpeeds>(cls_MecanumDriveWheelSpeeds);
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/SwerveModulePosition.yml b/subprojects/robotpy-wpimath/gen/kinematics/SwerveModulePosition.yml
@@ -1,5 +1,8 @@
 ---
 
+extra_includes:
+- wpystruct.h
+
 classes:
   SwerveModulePosition:
     force_no_default_constructor: true
@@ -27,4 +30,7 @@ classes:
       .def("__repr__", [](const SwerveModulePosition &ss) -> std::string {
         return "SwerveModulePosition(distance=" + std::to_string(ss.distance()) + ", "
                                     "angle=" + std::to_string(ss.angle.Radians()()) + ")";
-      })
+      })
+
+inline_code: |
+  SetupWPyStruct<frc::SwerveModulePosition>(cls_SwerveModulePosition);
diff --git a/subprojects/robotpy-wpimath/gen/kinematics/SwerveModuleState.yml b/subprojects/robotpy-wpimath/gen/kinematics/SwerveModuleState.yml
@@ -1,5 +1,8 @@
 ---
 
+extra_includes:
+- wpystruct.h
+
 classes:
   SwerveModuleState:
     force_no_default_constructor: true
@@ -32,3 +35,5 @@ inline_code: |
                                "angle=" + std::to_string(ss.angle.Radians()()) + ")";
     })
   ;
+
+  SetupWPyStruct<frc::SwerveModuleState>(cls_SwerveModuleState);