SchedulerProto.java

// 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.
 
package org.wpilib.command3.proto;
 
import org.wpilib.command3.Command;
import org.wpilib.command3.Scheduler;
import org.wpilib.command3.proto.ProtobufCommands.ProtobufScheduler;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors;

public class SchedulerProto implements Protobuf<Scheduler, ProtobufScheduler> {
  @Override
  public Class<Scheduler> getTypeClass() {
    return Scheduler.class;
  }
 
  @Override
  public Descriptors.Descriptor getDescriptor() {
    return ProtobufScheduler.getDescriptor();
  }
 
  @Override
  public ProtobufScheduler createMessage() {
    return ProtobufScheduler.newInstance();
  }
 
  @Override
  public Scheduler unpack(ProtobufScheduler msg) {
    throw new UnsupportedOperationException("Deserialization not supported");
  }
 
  @Override
  public void pack(ProtobufScheduler msg, Scheduler scheduler) {
    msg.clear();
 
    var commandProto = new CommandProto(scheduler);
 
    Protobuf.packArray(
        msg.getMutableQueuedCommands(),
        scheduler.getQueuedCommands().toArray(new Command[0]),
        commandProto);
 
    Protobuf.packArray(
        msg.getMutableRunningCommands(),
        scheduler.getRunningCommands().toArray(new Command[0]),
        commandProto);
 
    msg.setLastTimeMs(scheduler.lastRuntimeMs());
  }
}