From fad87d375f07d75fc2ed1282516549489f96afd0 Mon Sep 17 00:00:00 2001
From: DeltaDizzy <ejbraswell@gmail.com>
Date: Thu, 7 Mar 2024 00:30:19 -0500
Subject: [PATCH] add proto files

---
 .../DifferentialDriveWheelPositionsProto.cpp  | 32 +++++++++++++++++++
 .../DifferentialDriveWheelPositionsProto.h    | 19 +++++++++++
 2 files changed, 51 insertions(+)
 create mode 100644 wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
 create mode 100644 wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h

diff --git a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
new file mode 100644
index 00000000000..642a8bceb4e
--- /dev/null
+++ b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
@@ -0,0 +1,32 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
+
+#include "kinematics.pb.h"
+
+google::protobuf::Message* wpi::Protobuf<
+    frc::DifferentialDriveWheelPositions>::New(google::protobuf::Arena* arena) {
+  return google::protobuf::Arena::CreateMessage<
+      wpi::proto::ProtobufDifferentialDriveWheelPositions>(arena);
+}
+
+frc::DifferentialDriveWheelPositions
+wpi::Protobuf<frc::DifferentialDriveWheelPositions>::Unpack(
+    const google::protobuf::Message& msg) {
+  auto m = static_cast<const wpi::proto::ProtobufDifferentialDriveWheelPositions*>(
+      &msg);
+  return frc::DifferentialDriveWheelPositions{
+      units::meters_per_second_t{m->left()},
+      units::meters_per_second_t{m->right()},
+  };
+}
+
+void wpi::Protobuf<frc::DifferentialDriveWheelPositions>::Pack(
+    google::protobuf::Message* msg,
+    const frc::DifferentialDriveWheelPositions& value) {
+  auto m = static_cast<wpi::proto::ProtobufDifferentialDriveWheelPositions*>(msg);
+  m->set_left(value.left.value());
+  m->set_right(value.right.value());
+}
diff --git a/wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h b/wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h
new file mode 100644
index 00000000000..3cf44eaa40c
--- /dev/null
+++ b/wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h
@@ -0,0 +1,19 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/protobuf/Protobuf.h>
+
+#include "frc/kinematics/DifferentialDriveWheelPositions.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelPositions> {
+  static google::protobuf::Message* New(google::protobuf::Arena* arena);
+  static frc::DifferentialDriveWheelPositions Unpack(
+      const google::protobuf::Message& msg);
+  static void Pack(google::protobuf::Message* msg,
+                   const frc::DifferentialDriveWheelPositions& value);
+};