[wpimath] Update units library

.github/workflows/cmake-android.yml

@@ -30,7 +30,7 @@ jobs:
       - uses: nttld/setup-ndk@v1
         id: setup-ndk
         with:
-          ndk-version: r27d
+          ndk-version: r29
           add-to-path: false
 
       - name: Install sccache

.github/workflows/lint-format.yml

@@ -140,7 +140,7 @@ jobs:
             **/upstream_utils/**
             **/generated/**
             ./wpigui/src/main/native/cpp/portable-file-dialogs.*
-            ./wpimath/src/main/native/include/wpi/units/base.hpp
+            ./wpimath/src/test/native/cpp/units/main.cpp
             ./wpinet/src/main/native/linux/AvahiClient.*
             ./wpiutil/src/main/native/include/wpi/util/FastQueue.hpp
             ./wpiutil/src/test/native/cpp/json/**

.wpiformat

@@ -22,7 +22,7 @@ generatedFileExclude {
   thirdparty/
   wpigui/src/main/native/cpp/portable-file-dialogs\.cpp$
   wpigui/src/main/native/include/wpi/gui/portable-file-dialogs\.h$
-  wpimath/src/main/native/include/wpi/units/base\.hpp$
+  wpimath/src/test/native/cpp/units/
   wpiutil/src/main/native/include/wpi/util/FastQueue\.hpp$
   wpiutil/src/test/native/cpp/json/
   wpiutil/src/test/native/cpp/llvm/
@@ -31,7 +31,6 @@ generatedFileExclude {
 
 modifiableFileExclude {
   objcpp/
-  wpimath/src/test/native/cpp/UnitsTest\.cpp$
   wpiutil/src/main/native/cpp/fs\.cpp$
   wpiutil/src/main/native/include/wpi/util/fs\.hpp$
 }

apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp

@@ -46,9 +46,9 @@ static wpi::math::Transform3d MakePose(const apriltag_pose_t& pose) {
   if (!pose.R || !pose.t) {
     return {};
   }
-  return {wpi::math::Translation3d{wpi::units::meter_t{pose.t->data[0]},
-                                   wpi::units::meter_t{pose.t->data[1]},
-                                   wpi::units::meter_t{pose.t->data[2]}},
+  return {wpi::math::Translation3d{wpi::units::meters<>{pose.t->data[0]},
+                                   wpi::units::meters<>{pose.t->data[1]},
+                                   wpi::units::meters<>{pose.t->data[2]}},
           wpi::math::Rotation3d{OrthogonalizeRotationMatrix(
               Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>{
                   pose.R->data})}};

apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp

@@ -161,7 +161,7 @@ static AprilTagDetector::QuadThresholdParameters FromJavaDetectorQTP(
   return {
       FIELD(int, Int, minClusterPixels),
       FIELD(int, Int, maxNumMaxima),
-      .criticalAngle = wpi::units::radian_t{static_cast<double>(
+      .criticalAngle = wpi::units::radians<>{static_cast<double>(
           env->GetDoubleField(jparams, criticalAngleField))},
       FIELD(float, Float, maxLineFitMSE),
       FIELD(int, Int, minWhiteBlackDiff),
@@ -517,7 +517,7 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseHomography
   }
 
   AprilTagPoseEstimator estimator(
-      {wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
+      {wpi::units::meters<>{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env, estimator.EstimateHomography(harr));
 }
 
@@ -554,7 +554,7 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
   }
 
   AprilTagPoseEstimator estimator(
-      {wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
+      {wpi::units::meters<>{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env,
                      estimator.EstimateOrthogonalIteration(harr, carr, nIters));
 }
@@ -592,7 +592,7 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePose
   }
 
   AprilTagPoseEstimator estimator(
-      {wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
+      {wpi::units::meters<>{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env, estimator.Estimate(harr, carr));
 }
 

apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector.hpp

@@ -98,7 +98,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
      * angles that are close to straight or close to 180 degrees. Zero means
      * that no quads are rejected. Default is 45 degrees.
      */
-    wpi::units::radian_t criticalAngle = 45_deg;
+    wpi::units::radians<> criticalAngle = 45_deg;
 
     /**
      * When fitting lines to the contours, the maximum mean squared error
@@ -255,7 +255,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
 
   void* m_impl;
   wpi::util::StringMap<void*> m_families;
-  wpi::units::radian_t m_qtpCriticalAngle = 10_deg;
+  wpi::units::radians<> m_qtpCriticalAngle = 10_deg;
 };
 
 }  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimator.hpp

@@ -23,7 +23,7 @@ class WPILIB_DLLEXPORT AprilTagPoseEstimator {
     bool operator==(const Config&) const = default;
 
     /** The tag size. */
-    wpi::units::meter_t tagSize;
+    wpi::units::meters<> tagSize;
 
     /** Camera horizontal focal length, in pixels. */
     double fx;

apriltag/src/main/python/semiwrap/AprilTagPoseEstimator.yml

@@ -30,7 +30,7 @@ classes:
     methods:
       operator==:
     inline_code: |
-      .def(py::init([](wpi::units::meter_t tagSize, double fx, double fy, double cx, double cy) {
+      .def(py::init([](wpi::units::meters<> tagSize, double fx, double fy, double cx, double cy) {
         AprilTagPoseEstimator::Config cfg{tagSize, fx, fy, cx, cy};
         return std::make_unique<AprilTagPoseEstimator::Config>(std::move(cfg));
       }), py::arg("tag_size"), py::arg("fx"), py::arg("fy"), py::arg("cx"), py::arg("cy"))

benchmark/src/main/native/cpp/TravelingSalesmanBenchmark.hpp

@@ -22,7 +22,7 @@ static constexpr int iterations = 100;
 inline void BM_TravelingSalesman_Transform(benchmark::State& state) {
   wpi::math::TravelingSalesman traveler{[](auto pose1, auto pose2) {
     auto transform = pose2 - pose1;
-    return wpi::units::math::hypot(transform.X(), transform.Y()).value();
+    return wpi::units::hypot(transform.X(), transform.Y()).value();
   }};
   // NOLINTNEXTLINE(clang-analyzer-deadcode.DeadStores)
   for (auto _ : state) {
@@ -33,7 +33,7 @@ inline void BM_TravelingSalesman_Transform(benchmark::State& state) {
 inline void BM_TravelingSalesman_Twist(benchmark::State& state) {
   wpi::math::TravelingSalesman traveler{[](auto pose1, auto pose2) {
     auto twist = (pose2 - pose1).Log();
-    return wpi::units::math::hypot(twist.dx, twist.dy).value();
+    return wpi::units::hypot(twist.dx, twist.dy).value();
   }};
   // NOLINTNEXTLINE(clang-analyzer-deadcode.DeadStores)
   for (auto _ : state) {

commandsv2/src/main/native/cpp/Command.cpp

@@ -65,7 +65,7 @@ void Command::SetSubsystem(std::string_view subsystem) {
   m_subsystem = subsystem;
 }
 
-CommandPtr Command::WithTimeout(wpi::units::second_t duration) && {
+CommandPtr Command::WithTimeout(wpi::units::seconds<> duration) && {
   return std::move(*this).ToPtr().WithTimeout(duration);
 }
 

commandsv2/src/main/native/cpp/CommandPtr.cpp

@@ -132,7 +132,7 @@ CommandPtr CommandPtr::BeforeStarting(CommandPtr&& before) && {
   return std::move(*this);
 }
 
-CommandPtr CommandPtr::WithTimeout(wpi::units::second_t duration) && {
+CommandPtr CommandPtr::WithTimeout(wpi::units::seconds<> duration) && {
   AssertValid();
   std::vector<std::unique_ptr<Command>> temp;
   temp.emplace_back(std::move(m_ptr));

commandsv2/src/main/native/cpp/CommandScheduler.cpp

@@ -78,7 +78,7 @@ CommandScheduler& CommandScheduler::GetInstance() {
   return scheduler;
 }
 
-void CommandScheduler::SetPeriod(wpi::units::second_t period) {
+void CommandScheduler::SetPeriod(wpi::units::seconds<> period) {
   m_watchdog.SetTimeout(period);
 }
 

commandsv2/src/main/native/cpp/Commands.cpp

@@ -87,7 +87,7 @@ CommandPtr DeferredProxy(wpi::util::unique_function<CommandPtr()> supplier) {
                {});
 }
 
-CommandPtr Wait(wpi::units::second_t duration) {
+CommandPtr Wait(wpi::units::seconds<> duration) {
   return WaitCommand(duration).ToPtr();
 }
 

commandsv2/src/main/native/cpp/NotifierCommand.cpp

@@ -9,7 +9,7 @@
 using namespace wpi::cmd;
 
 NotifierCommand::NotifierCommand(std::function<void()> toRun,
-                                 wpi::units::second_t period,
+                                 wpi::units::seconds<> period,
                                  Requirements requirements)
     : m_toRun(toRun), m_notifier{std::move(toRun)}, m_period{period} {
   AddRequirements(requirements);

commandsv2/src/main/native/cpp/WaitCommand.cpp

@@ -10,7 +10,8 @@
 
 using namespace wpi::cmd;
 
-WaitCommand::WaitCommand(wpi::units::second_t duration) : m_duration{duration} {
+WaitCommand::WaitCommand(wpi::units::seconds<> duration)
+    : m_duration{duration} {
   SetName(std::format("{}: {}", GetName(), duration));
 }
 

commandsv2/src/main/native/cpp/WaitUntilCommand.cpp

@@ -13,7 +13,7 @@ using namespace wpi::cmd;
 WaitUntilCommand::WaitUntilCommand(std::function<bool()> condition)
     : m_condition{std::move(condition)} {}
 
-WaitUntilCommand::WaitUntilCommand(wpi::units::second_t time)
+WaitUntilCommand::WaitUntilCommand(wpi::units::seconds<> time)
     : m_condition{[=] { return wpi::Timer::GetMatchTime() < time; }} {}
 
 bool WaitUntilCommand::IsFinished() {

commandsv2/src/main/native/cpp/button/CommandJoystick.cpp

@@ -30,7 +30,7 @@ double CommandJoystick::GetMagnitude() const {
   return m_joystick.GetMagnitude();
 }
 
-wpi::units::radian_t CommandJoystick::GetDirection() const {
+wpi::units::radians<> CommandJoystick::GetDirection() const {
   // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
   // A positive rotation around the X axis moves the joystick right, and a
   // positive rotation around the Y axis moves the joystick backward. When

commandsv2/src/main/native/cpp/button/Trigger.cpp

@@ -176,15 +176,15 @@ Trigger Trigger::ToggleOnFalse(CommandPtr&& command) {
   return *this;
 }
 
-Trigger Trigger::Debounce(wpi::units::second_t debounceTime,
+Trigger Trigger::Debounce(wpi::units::seconds<> debounceTime,
                           wpi::math::Debouncer::DebounceType type) {
   return Trigger(m_loop, [debouncer = wpi::math::Debouncer(debounceTime, type),
                           condition = m_condition]() mutable {
     return debouncer.Calculate(condition());
   });
 }
 
-Trigger Trigger::MultiPress(int requiredPresses, units::second_t windowTime) {
+Trigger Trigger::MultiPress(int requiredPresses, units::seconds<> windowTime) {
   return Trigger(m_loop, [filter = wpi::math::EdgeCounterFilter(requiredPresses,
                                                                 windowTime),
                           condition = m_condition]() mutable {

commandsv2/src/main/native/include/wpi/commands2/Command.hpp

@@ -191,7 +191,7 @@ class Command : public wpi::telemetry::TelemetryLoggable,
    * @param duration the timeout duration
    * @return the command with the timeout added
    */
-  CommandPtr WithTimeout(wpi::units::second_t duration) &&;
+  CommandPtr WithTimeout(wpi::units::seconds<> duration) &&;
 
   /**
    * Decorates this command with an interrupt condition. If the specified

commandsv2/src/main/native/include/wpi/commands2/CommandPtr.hpp

@@ -125,7 +125,7 @@ class [[nodiscard]] CommandPtr final {
    * @param duration the timeout duration
    * @return the command with the timeout added
    */
-  CommandPtr WithTimeout(wpi::units::second_t duration) &&;
+  CommandPtr WithTimeout(wpi::units::seconds<> duration) &&;
 
   /**
    * Decorates this command with an interrupt condition. If the specified

commandsv2/src/main/native/include/wpi/commands2/CommandScheduler.hpp

@@ -58,7 +58,7 @@ class CommandScheduler final : public wpi::telemetry::TelemetryLoggable,
    * Changes the period of the loop overrun watchdog. This should be kept in
    * sync with the TimedRobot period.
    */
-  void SetPeriod(wpi::units::second_t period);
+  void SetPeriod(wpi::units::seconds<> period);
 
   /**
    * Get the active button poll.

commandsv2/src/main/native/include/wpi/commands2/Commands.hpp

@@ -98,7 +98,7 @@ CommandPtr Print(std::string_view msg);
  *
  * @param duration after how long the command finishes
  */
-CommandPtr Wait(wpi::units::second_t duration);
+CommandPtr Wait(wpi::units::seconds<> duration);
 
 /**
  * Constructs a command that does nothing, finishing once a condition becomes

commandsv2/src/main/native/include/wpi/commands2/NotifierCommand.hpp

@@ -34,7 +34,7 @@ class NotifierCommand : public CommandHelper<Command, NotifierCommand> {
    * @param period       the period at which the notifier should run
    * @param requirements the subsystems required by this command
    */
-  NotifierCommand(std::function<void()> toRun, wpi::units::second_t period,
+  NotifierCommand(std::function<void()> toRun, wpi::units::seconds<> period,
                   Requirements requirements = {});
 
   NotifierCommand(NotifierCommand&& other);
@@ -48,6 +48,6 @@ class NotifierCommand : public CommandHelper<Command, NotifierCommand> {
  private:
   std::function<void()> m_toRun;
   wpi::Notifier m_notifier;
-  wpi::units::second_t m_period;
+  wpi::units::seconds<> m_period;
 };
 }  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/WaitCommand.hpp

@@ -23,7 +23,7 @@ class WaitCommand : public CommandHelper<Command, WaitCommand> {
    *
    * @param duration the time to wait
    */
-  explicit WaitCommand(wpi::units::second_t duration);
+  explicit WaitCommand(wpi::units::seconds<> duration);
 
   WaitCommand(WaitCommand&& other) = default;
 
@@ -44,6 +44,6 @@ class WaitCommand : public CommandHelper<Command, WaitCommand> {
   wpi::Timer m_timer;
 
  private:
-  wpi::units::second_t m_duration;
+  wpi::units::seconds<> m_duration;
 };
 }  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/WaitUntilCommand.hpp

@@ -42,7 +42,7 @@ class WaitUntilCommand : public CommandHelper<Command, WaitUntilCommand> {
    * @param time the match time after which to end, in seconds
    * @see wpi::DriverStation::GetMatchTime()
    */
-  explicit WaitUntilCommand(wpi::units::second_t time);
+  explicit WaitUntilCommand(wpi::units::seconds<> time);
 
   WaitUntilCommand(WaitUntilCommand&& other) = default;
 

commandsv2/src/main/native/include/wpi/commands2/button/CommandJoystick.hpp

@@ -76,7 +76,7 @@ class CommandJoystick {
    *
    * @return The direction of the vector.
    */
-  wpi::units::radian_t GetDirection() const;
+  wpi::units::radians<> GetDirection() const;
 
  private:
   CommandGenericHID* m_hid;

commandsv2/src/main/native/include/wpi/commands2/button/Trigger.hpp

@@ -279,7 +279,7 @@ class Trigger {
    * @param type The debounce type.
    * @return The debounced trigger.
    */
-  Trigger Debounce(wpi::units::second_t debounceTime,
+  Trigger Debounce(wpi::units::seconds<> debounceTime,
                    wpi::math::Debouncer::DebounceType type =
                        wpi::math::Debouncer::DebounceType::RISING);
 
@@ -297,7 +297,7 @@ class Trigger {
    * @param windowTime The time in which the presses must occur.
    * @return The multi-press trigger.
    */
-  Trigger MultiPress(int requiredPresses, units::second_t windowTime);
+  Trigger MultiPress(int requiredPresses, units::seconds<> windowTime);
 
   /**
    * Returns the current state of this trigger.