add utility module and register geometry types with telemetry

README.md

@@ -15,6 +15,7 @@ to [kdoc.nextftc.dev](https://kdoc.nextftc.dev/).
 
 | Module                           | Description                                                                                                                                              |
 |----------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------|
+| [`util`](util/Module.md)         | Pure-JVM pieces shared by every module: WPILib struct schemas, an `EventLoop`, and a `Log` facade.                                                       |
 | [`units`](units/Module.md)       | Type-safe physical units (distance, time, mass, force, voltage, angle, etc.) modeled after WPILib's units library.                                       |
 | [`linalg`](linalg/Module.md)     | A Kotlin wrapper around EJML with `Nat` phantom types, so matrix/vector dimension mismatches are caught at compile time.                                 |
 | [`control`](control/Module.md)   | Feedback controllers (PID, LQR), feedforward models, signal filters, motion profiling, and typed 2D geometry (`Pose2d`, `Rotation2d`, etc.).             |

build.gradle.kts

@@ -7,6 +7,7 @@ plugins {
 }
 
 dependencies {
+  dokka(project(":util"))
   dokka(project(":units"))
   dokka(project(":linalg"))
   dokka(project(":control"))

control/build.gradle.kts

@@ -5,6 +5,7 @@ plugins {
 description = "A WPIMath inspired library for controls and other math classes and functions."
 
 dependencies {
+  api(project(":util"))
   api(project(":units"))
   api(project(":linalg"))
 

control/src/main/kotlin/dev/nextftc/control/geometry/ChassisAccelerations.kt

@@ -9,12 +9,15 @@
 package dev.nextftc.control.geometry
 
 import dev.nextftc.units.InchesPerSecondSquared
+import dev.nextftc.units.MetersPerSecondSquared
 import dev.nextftc.units.RadiansPerSecondSquared
 import dev.nextftc.units.measuretypes.AngularAcceleration
 import dev.nextftc.units.measuretypes.Time
 import dev.nextftc.units.unittypes.DistanceUnit
 import dev.nextftc.units.unittypes.PerUnit
 import dev.nextftc.units.unittypes.TimeUnit
+import dev.nextftc.util.struct.StructSchema
+import dev.nextftc.util.struct.structSchema
 
 /**
  * @usesMathJax
@@ -180,5 +183,16 @@ data class ChassisAccelerations(
       Vector2d.zero(InchesPerSecondSquared),
       RadiansPerSecondSquared.of(0.0),
     )
+
+    /**
+     * The WPILib `ChassisAccelerations` struct: `ax` and `ay` in meters per second squared and
+     * `alpha` in radians per second squared.
+     */
+    @JvmField
+    val struct: StructSchema<ChassisAccelerations> = structSchema("ChassisAccelerations") {
+      float64("ax") { it.linearAcc.x.into(MetersPerSecondSquared) }
+      float64("ay") { it.linearAcc.y.into(MetersPerSecondSquared) }
+      float64("alpha") { it.angAcc.into(RadiansPerSecondSquared) }
+    }
   }
 }

control/src/main/kotlin/dev/nextftc/control/geometry/ChassisVelocities.kt

@@ -9,11 +9,14 @@
 package dev.nextftc.control.geometry
 
 import dev.nextftc.units.InchesPerSecond
+import dev.nextftc.units.MetersPerSecond
 import dev.nextftc.units.RadiansPerSecond
 import dev.nextftc.units.measuretypes.AngularVelocity
 import dev.nextftc.units.unittypes.DistanceUnit
 import dev.nextftc.units.unittypes.PerUnit
 import dev.nextftc.units.unittypes.TimeUnit
+import dev.nextftc.util.struct.StructSchema
+import dev.nextftc.util.struct.structSchema
 
 /**
  * @usesMathJax
@@ -153,5 +156,16 @@ data class ChassisVelocities(
      */
     @JvmField
     val zero = ChassisVelocities(Vector2d.zero(InchesPerSecond), RadiansPerSecond.of(0.0))
+
+    /**
+     * The WPILib `ChassisVelocities` struct: `vx` and `vy` in meters per second and `omega` in
+     * radians per second.
+     */
+    @JvmField
+    val struct: StructSchema<ChassisVelocities> = structSchema("ChassisVelocities") {
+      float64("vx") { it.linearVel.x.into(MetersPerSecond) }
+      float64("vy") { it.linearVel.y.into(MetersPerSecond) }
+      float64("omega") { it.angVel.into(RadiansPerSecond) }
+    }
   }
 }

control/src/main/kotlin/dev/nextftc/control/geometry/Pose2d.kt

@@ -12,6 +12,8 @@ import dev.nextftc.units.Inches
 import dev.nextftc.units.measuretypes.Angle
 import dev.nextftc.units.measuretypes.Distance
 import dev.nextftc.units.unittypes.DistanceUnit
+import dev.nextftc.util.struct.StructSchema
+import dev.nextftc.util.struct.structSchema
 import kotlin.math.abs
 import kotlin.math.cos
 import kotlin.math.sin
@@ -309,6 +311,15 @@ data class Pose2d(
   }
 
   companion object {
+    /**
+     * The WPILib `Pose2d` struct: a translation in meters and a rotation in radians.
+     */
+    @JvmField
+    val struct: StructSchema<Pose2d> = structSchema("Pose2d") {
+      struct("translation", Vector2d.translation2dStruct) { it.position }
+      struct("rotation", Rotation2d.struct) { it.heading }
+    }
+
     /**
      * Computes the pose exponential map from a twist.
      *

control/src/main/kotlin/dev/nextftc/control/geometry/PoseAcceleration2d.kt

@@ -9,12 +9,15 @@
 package dev.nextftc.control.geometry
 
 import dev.nextftc.units.InchesPerSecondSquared
+import dev.nextftc.units.MetersPerSecondSquared
 import dev.nextftc.units.RadiansPerSecondSquared
 import dev.nextftc.units.measuretypes.AngularAcceleration
 import dev.nextftc.units.measuretypes.Time
 import dev.nextftc.units.unittypes.DistanceUnit
 import dev.nextftc.units.unittypes.PerUnit
 import dev.nextftc.units.unittypes.TimeUnit
+import dev.nextftc.util.struct.StructSchema
+import dev.nextftc.util.struct.structSchema
 
 /**
  * @usesMathJax
@@ -191,5 +194,16 @@ data class PoseAcceleration2d(
       Vector2d.zero(InchesPerSecondSquared),
       RadiansPerSecondSquared.of(0.0),
     )
+
+    /**
+     * The WPILib `ChassisAccelerations` struct, which WPILib uses for field-frame accelerations
+     * too: `ax` and `ay` in meters per second squared and `alpha` in radians per second squared.
+     */
+    @JvmField
+    val struct: StructSchema<PoseAcceleration2d> = structSchema("ChassisAccelerations") {
+      float64("ax") { it.linearAcc.x.into(MetersPerSecondSquared) }
+      float64("ay") { it.linearAcc.y.into(MetersPerSecondSquared) }
+      float64("alpha") { it.angAcc.into(RadiansPerSecondSquared) }
+    }
   }
 }

control/src/main/kotlin/dev/nextftc/control/geometry/PoseVelocity2d.kt

@@ -9,11 +9,14 @@
 package dev.nextftc.control.geometry
 
 import dev.nextftc.units.InchesPerSecond
+import dev.nextftc.units.MetersPerSecond
 import dev.nextftc.units.RadiansPerSecond
 import dev.nextftc.units.measuretypes.AngularVelocity
 import dev.nextftc.units.unittypes.DistanceUnit
 import dev.nextftc.units.unittypes.PerUnit
 import dev.nextftc.units.unittypes.TimeUnit
+import dev.nextftc.util.struct.StructSchema
+import dev.nextftc.util.struct.structSchema
 
 /**
  * @usesMathJax
@@ -168,5 +171,16 @@ data class PoseVelocity2d(
   companion object {
     @JvmField
     val zero = PoseVelocity2d(Vector2d.zero(InchesPerSecond), RadiansPerSecond.of(0.0))
+
+    /**
+     * The WPILib `ChassisVelocities` struct, which WPILib uses for field-frame velocities too: `vx`
+     * and `vy` in meters per second and `omega` in radians per second.
+     */
+    @JvmField
+    val struct: StructSchema<PoseVelocity2d> = structSchema("ChassisVelocities") {
+      float64("vx") { it.linearVel.x.into(MetersPerSecond) }
+      float64("vy") { it.linearVel.y.into(MetersPerSecond) }
+      float64("omega") { it.angVel.into(RadiansPerSecond) }
+    }
   }
 }

control/src/main/kotlin/dev/nextftc/control/geometry/Rotation2d.kt

@@ -12,6 +12,8 @@ import dev.nextftc.units.Radians
 import dev.nextftc.units.Unit
 import dev.nextftc.units.inches
 import dev.nextftc.units.measuretypes.Angle
+import dev.nextftc.util.struct.StructSchema
+import dev.nextftc.util.struct.structSchema
 import kotlin.math.atan2
 import kotlin.math.cos
 import kotlin.math.sin
@@ -214,5 +216,13 @@ data class Rotation2d(@JvmField val real: Double, @JvmField val imag: Double) {
      */
     @JvmField
     val zero = Rotation2d(1.0, 0.0)
+
+    /**
+     * The WPILib `Rotation2d` struct: `double value`, the angle in radians.
+     */
+    @JvmField
+    val struct: StructSchema<Rotation2d> = structSchema("Rotation2d") {
+      float64("value") { it.log() }
+    }
   }
 }

control/src/main/kotlin/dev/nextftc/control/geometry/Transform2d.kt

@@ -12,6 +12,8 @@ import dev.nextftc.units.Inches
 import dev.nextftc.units.measuretypes.Angle
 import dev.nextftc.units.measuretypes.Distance
 import dev.nextftc.units.unittypes.DistanceUnit
+import dev.nextftc.util.struct.StructSchema
+import dev.nextftc.util.struct.structSchema
 
 /**
  * @usesMathJax
@@ -268,5 +270,14 @@ data class Transform2d(
      */
     @JvmField
     val identity = Transform2d(Vector2d.zero(Inches), Rotation2d.zero)
+
+    /**
+     * The WPILib `Transform2d` struct: a translation in meters and a rotation in radians.
+     */
+    @JvmField
+    val struct: StructSchema<Transform2d> = structSchema("Transform2d") {
+      struct("translation", Vector2d.translation2dStruct) { it.translation }
+      struct("rotation", Rotation2d.struct) { it.rotation }
+    }
   }
 }

control/src/main/kotlin/dev/nextftc/control/geometry/Twist2d.kt

@@ -9,9 +9,12 @@
 package dev.nextftc.control.geometry
 
 import dev.nextftc.units.Inches
+import dev.nextftc.units.Meters
 import dev.nextftc.units.measuretypes.Angle
 import dev.nextftc.units.measuretypes.Distance
 import dev.nextftc.units.unittypes.DistanceUnit
+import dev.nextftc.util.struct.StructSchema
+import dev.nextftc.util.struct.structSchema
 
 /**
  * @usesMathJax
@@ -171,5 +174,15 @@ data class Twist2d(@JvmField val line: Vector2d<DistanceUnit>, @JvmField val ang
   companion object {
     @JvmField
     val zero = Twist2d(Vector2d.zero(Inches), 0.0)
+
+    /**
+     * The WPILib `Twist2d` struct: `dx` and `dy` in meters and `dtheta` in radians.
+     */
+    @JvmField
+    val struct: StructSchema<Twist2d> = structSchema("Twist2d") {
+      float64("dx") { it.line.x.into(Meters) }
+      float64("dy") { it.line.y.into(Meters) }
+      float64("dtheta") { it.angle }
+    }
   }
 }

control/src/main/kotlin/dev/nextftc/control/geometry/Vector2d.kt

@@ -11,6 +11,7 @@
 package dev.nextftc.control.geometry
 
 import dev.nextftc.units.Measure
+import dev.nextftc.units.Meters
 import dev.nextftc.units.Unit
 import dev.nextftc.units.inches
 import dev.nextftc.units.inchesPerSecond
@@ -19,6 +20,8 @@ import dev.nextftc.units.measuretypes.Time
 import dev.nextftc.units.unittypes.DistanceUnit
 import dev.nextftc.units.unittypes.PerUnit
 import dev.nextftc.units.unittypes.TimeUnit
+import dev.nextftc.util.struct.StructSchema
+import dev.nextftc.util.struct.structSchema
 import kotlin.math.sqrt
 
 /**
@@ -182,6 +185,16 @@ data class Vector2d<U : Unit<U>>(@JvmField val x: Measure<U>, @JvmField val y: M
     @JvmField
     val zero = Vector2d(0.0.inches, 0.0.inches)
 
+    /**
+     * The WPILib `Translation2d` struct: `x` and `y` in meters. It describes a displacement, so it
+     * applies to a `Vector2d<DistanceUnit>`.
+     */
+    @JvmField
+    val translation2dStruct: StructSchema<Vector2d<DistanceUnit>> = structSchema("Translation2d") {
+      float64("x") { it.x.into(Meters) }
+      float64("y") { it.y.into(Meters) }
+    }
+
     /**
      * Creates a zero vector with the specified unit.
      *