Java units API rewrite

.github/workflows/pregenerate.yml

@@ -32,6 +32,8 @@ jobs:
         run: ./ntcore/generate_topics.py
       - name: Run wpimath
         run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      - name: Run wpiunits
+        run: ./wpiunits/generate_units.py
       - name: Run HIDs
         run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
       - name: Run PWM Controllers

docs/build.gradle

@@ -240,7 +240,10 @@ task generateJavaDocs(type: Javadoc) {
             "-edu.wpi.first.math.system.struct," +
             "-edu.wpi.first.math.system.plant.proto," +
             "-edu.wpi.first.math.system.plant.struct," +
-            "-edu.wpi.first.math.trajectory.proto", true)
+            "-edu.wpi.first.math.trajectory.proto," +
+            // The .measure package contains generated source files for which automatic javadoc
+            // generation is very difficult to do meaningfully.
+            "-edu.wpi.first.units.measure", true)
     options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
     options.addBooleanOption('html5', true)
     options.linkSource(true)

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java

@@ -9,8 +9,7 @@
 import edu.wpi.first.epilogue.logging.errors.ErrorHandler;
 import edu.wpi.first.epilogue.logging.errors.ErrorPrinter;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 
 /**
  * A configuration object to be used by the generated {@code Epilogue} class to customize its
@@ -29,13 +28,13 @@ public class EpilogueConfiguration {
    * The period Epilogue will log at. By default this is the period that the robot runs at. This is
    * the field used by bind to configure speed when adding the periodic logging function
    */
-  public Measure<Time> loggingPeriod;
+  public Time loggingPeriod;
 
   /**
    * The offset from the periodic run that Epilogue will log at. By default this will be half of the
    * robots period. This is the field used by bind when adding the periodic logging function
    */
-  public Measure<Time> loggingPeriodOffset;
+  public Time loggingPeriodOffset;
 
   /**
    * The minimum importance level of data to be logged. Defaults to debug, which logs data of all

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/DataLogger.java

@@ -211,7 +211,7 @@ default void log(String identifier, Measure<?> value) {
    * @param unit the unit to log the measurement in
    * @param <U> the dimension of the unit
    */
-  default <U extends Unit<U>> void log(String identifier, Measure<U> value, U unit) {
+  default <U extends Unit> void log(String identifier, Measure<U> value, U unit) {
     log(identifier, value.in(unit));
   }
 

styleguide/checkstyle-suppressions.xml

@@ -14,4 +14,6 @@ suppressions PUBLIC "-//Puppy Crawl//DTD Suppressions 1.1//EN"
     checks="(CustomImportOrder|EmptyLineSeparator|LineLength|JavadocParagraph|MissingJavadocMethod|OverloadMethodsDeclarationOrder|SummaryJavadoc|UnnecessaryParentheses|OperatorWrap|JavadocMethod|JavadocTagContinuationIndentation)" />
   <suppress files="wpilibj[/\\]src[/\\]generated.*"
     checks="MethodName" />
+  <!-- Disable checkstyle for generated unit files -->
+  <suppress files="wpiunits[/\\]src[/\\]generated.*" checks=".*"/>
 </suppressions>

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

@@ -4,11 +4,10 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import static edu.wpi.first.units.Units.Second;
+import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.util.function.BooleanConsumer;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
@@ -179,8 +178,8 @@ public ParallelRaceGroup withTimeout(double seconds) {
    * @param time the timeout duration
    * @return the command with the timeout added
    */
-  public ParallelRaceGroup withTimeout(Measure<Time> time) {
-    return withTimeout(time.in(Second));
+  public ParallelRaceGroup withTimeout(Time time) {
+    return withTimeout(time.in(Seconds));
   }
 
   /**

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java

@@ -6,8 +6,7 @@
 
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 import java.util.Map;
 import java.util.Set;
 import java.util.function.BooleanSupplier;
@@ -137,7 +136,7 @@ public static Command waitSeconds(double seconds) {
    * @return the command
    * @see WaitCommand
    */
-  public static Command waitTime(Measure<Time> time) {
+  public static Command waitTime(Time time) {
     return new WaitCommand(time);
   }
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java

@@ -19,9 +19,7 @@
 import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
 import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.MutLinearVelocity;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
@@ -60,22 +58,14 @@ public class MecanumControllerCommand extends Command {
   private final Supplier<MecanumDriveWheelSpeeds> m_currentWheelSpeeds;
   private final Consumer<MecanumDriveMotorVoltages> m_outputDriveVoltages;
   private final Consumer<MecanumDriveWheelSpeeds> m_outputWheelSpeeds;
-  private final MutableMeasure<Velocity<Distance>> m_prevFrontLeftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_prevRearLeftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_prevFrontRightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_prevRearRightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_frontLeftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_rearLeftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_frontRightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_rearRightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
+  private final MutLinearVelocity m_prevFrontLeftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_prevRearLeftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_prevFrontRightSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_prevRearRightSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_frontLeftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_rearLeftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_frontRightSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_rearRightSpeedSetpoint = MetersPerSecond.mutable(0);
 
   /**
    * Constructs a new MecanumControllerCommand that when executed will follow the provided

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java

@@ -16,9 +16,7 @@
 import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.units.Distance;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.MutLinearVelocity;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.function.BiConsumer;
@@ -51,14 +49,10 @@ public class RamseteCommand extends Command {
   private final PIDController m_rightController;
   private final BiConsumer<Double, Double> m_output;
   private DifferentialDriveWheelSpeeds m_prevSpeeds = new DifferentialDriveWheelSpeeds();
-  private final MutableMeasure<Velocity<Distance>> m_prevLeftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_prevRightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_leftSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
-  private final MutableMeasure<Velocity<Distance>> m_rightSpeedSetpoint =
-      MutableMeasure.zero(MetersPerSecond);
+  private final MutLinearVelocity m_prevLeftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_prevRightSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_leftSpeedSetpoint = MetersPerSecond.mutable(0);
+  private final MutLinearVelocity m_rightSpeedSetpoint = MetersPerSecond.mutable(0);
   private double m_prevTime;
 
   /**

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java

@@ -4,10 +4,9 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import static edu.wpi.first.units.Units.Second;
+import static edu.wpi.first.units.Units.Seconds;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Time;
+import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.Timer;
@@ -39,8 +38,8 @@ public WaitCommand(double seconds) {
    *
    * @param time the time to wait
    */
-  public WaitCommand(Measure<Time> time) {
-    this(time.in(Second));
+  public WaitCommand(Time time) {
+    this(time.in(Seconds));
   }
 
   @Override

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java

@@ -4,17 +4,16 @@
 
 package edu.wpi.first.wpilibj2.command.sysid;
 
-import static edu.wpi.first.units.MutableMeasure.mutable;
 import static edu.wpi.first.units.Units.Second;
 import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.units.Units.Volts;
 import static java.util.Map.entry;
 
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MutableMeasure;
-import edu.wpi.first.units.Time;
-import edu.wpi.first.units.Velocity;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.VoltageUnit;
+import edu.wpi.first.units.measure.MutVoltage;
+import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.units.measure.Velocity;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -43,7 +42,7 @@
 public class SysIdRoutine extends SysIdRoutineLog {
   private final Config m_config;
   private final Mechanism m_mechanism;
-  private final MutableMeasure<Voltage> m_outputVolts = mutable(Volts.of(0));
+  private final MutVoltage m_outputVolts = Volts.mutable(0);
   private final Consumer<State> m_recordState;
 
   /**
@@ -62,13 +61,13 @@ public SysIdRoutine(Config config, Mechanism mechanism) {
   /** Hardware-independent configuration for a SysId test routine. */
   public static class Config {
     /** The voltage ramp rate used for quasistatic test routines. */
-    public final Measure<Velocity<Voltage>> m_rampRate;
+    public final Velocity<VoltageUnit> m_rampRate;
 
     /** The step voltage output used for dynamic test routines. */
-    public final Measure<Voltage> m_stepVoltage;
+    public final Voltage m_stepVoltage;
 
     /** Safety timeout for the test routine commands. */
-    public final Measure<Time> m_timeout;
+    public final Time m_timeout;
 
     /** Optional handle for recording test state in a third-party logging solution. */
     public final Consumer<State> m_recordState;
@@ -87,11 +86,11 @@ public static class Config {
      *     logged in WPILog.
      */
     public Config(
-        Measure<Velocity<Voltage>> rampRate,
-        Measure<Voltage> stepVoltage,
-        Measure<Time> timeout,
+        Velocity<VoltageUnit> rampRate,
+        Voltage stepVoltage,
+        Time timeout,
         Consumer<State> recordState) {
-      m_rampRate = rampRate != null ? rampRate : Volts.of(1).per(Seconds.of(1));
+      m_rampRate = rampRate != null ? rampRate : Volts.of(1).per(Second);
       m_stepVoltage = stepVoltage != null ? stepVoltage : Volts.of(7);
       m_timeout = timeout != null ? timeout : Seconds.of(10);
       m_recordState = recordState;
@@ -107,8 +106,7 @@ public Config(
      * @param timeout Safety timeout for the test routine commands. Defaults to 10 seconds if left
      *     null.
      */
-    public Config(
-        Measure<Velocity<Voltage>> rampRate, Measure<Voltage> stepVoltage, Measure<Time> timeout) {
+    public Config(Velocity<VoltageUnit> rampRate, Voltage stepVoltage, Time timeout) {
       this(rampRate, stepVoltage, timeout, null);
     }
 
@@ -132,7 +130,7 @@ public Config() {
    */
   public static class Mechanism {
     /** Sends the SysId-specified drive signal to the mechanism motors during test routines. */
-    public final Consumer<Measure<Voltage>> m_drive;
+    public final Consumer<? super Voltage> m_drive;
 
     /**
      * Returns measured data (voltages, positions, velocities) of the mechanism motors during test
@@ -163,10 +161,7 @@ public static class Mechanism {
      *     the subsystem if left null.
      */
     public Mechanism(
-        Consumer<Measure<Voltage>> drive,
-        Consumer<SysIdRoutineLog> log,
-        Subsystem subsystem,
-        String name) {
+        Consumer<Voltage> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem, String name) {
       m_drive = drive;
       m_log = log != null ? log : l -> {};
       m_subsystem = subsystem;
@@ -189,8 +184,7 @@ public Mechanism(
      *     will be appended to the log entry title for the routine's test state, e.g.
      *     "sysid-test-state-subsystem".
      */
-    public Mechanism(
-        Consumer<Measure<Voltage>> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem) {
+    public Mechanism(Consumer<Voltage> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem) {
       this(drive, log, subsystem, null);
     }
   }

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutineTest.java

@@ -15,7 +15,7 @@
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.Voltage;
+import edu.wpi.first.units.VoltageUnit;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -28,7 +28,7 @@ class SysIdRoutineTest {
   interface Mechanism extends Subsystem {
     void recordState(SysIdRoutineLog.State state);
 
-    void drive(Measure<Voltage> voltage);
+    void drive(Measure<VoltageUnit> voltage);
 
     void log(SysIdRoutineLog log);
   }