Try fixing type casters

Author: Gold856

wpilibc/src/main/native/cpp/internal/PeriodicPriorityQueue.cpp

@@ -47,7 +47,7 @@ PeriodicPriorityQueue::Callback::Callback(std::function<void()> func,
 PeriodicPriorityQueue::Callback::Callback(std::function<void()> func,
                                           std::chrono::nanoseconds startTime,
                                           wpi::units::seconds<> period)
-    : Callback{std::move(func), startTime, period, wpi::units::second_t{0}} {}
+    : Callback{std::move(func), startTime, period, 0_s} {}
 
 void PeriodicPriorityQueue::Add(std::function<void()> func,
                                 std::chrono::nanoseconds startTime,

wpilibc/src/main/python/wpilib/src/rpy/Notifier.cpp

@@ -129,14 +129,14 @@ void PyNotifier::SetCallback(std::function<void()> handler) {
 void PyNotifier::StartSingle(wpi::units::seconds<> delay) {
   int32_t status = 0;
   HAL_SetNotifierAlarm(m_notifier,
-                       wpi::units::nanosecond_t{delay}.to<int64_t>(), 0, false,
+                       wpi::units::nanoseconds<>{delay}.to<int64_t>(), 0, false,
                        false, &status);
   WPILIB_CheckErrorStatus(status, "SetNotifierAlarm");
 }
 
 void PyNotifier::StartPeriodic(wpi::units::seconds<> period) {
   int32_t status = 0;
-  auto periodNs = wpi::units::nanosecond_t{period}.to<int64_t>();
+  auto periodNs = wpi::units::nanoseconds<>{period}.to<int64_t>();
   HAL_SetNotifierAlarm(m_notifier, periodNs, periodNs, false, false, &status);
   WPILIB_CheckErrorStatus(status, "SetNotifierAlarm");
 }

wpilibc/src/test/native/cpp/LEDPatternTest.cpp

@@ -693,7 +693,7 @@ TEST_CASE("LEDPatternTest Breathe", "[wpilibc]") {
   wpi::util::Color midGray{0.5, 0.5, 0.5};
   std::array<AddressableLED::LEDData, 1> buffer;
   auto white = LEDPattern::Solid(wpi::util::Color::WHITE);
-  auto pattern = white.Breathe(wpi::units::nanosecond_t{4});
+  auto pattern = white.Breathe(4_ns);
 
   static int64_t now = 0;
   WPI_SetNowImpl([] { return now; });

wpimath/src/main/python/wpimath/_impl/src/type_casters/_units_base_type_caster.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <pybind11/pybind11.h>
+#include <wpi/units/core.hpp>
 
 namespace pybind11 {
 namespace detail {
@@ -26,14 +27,10 @@ namespace detail {
     foo(wpi::units::seconds<> tm = 10_ms);    // if not careful, pybind11 will
                                               // store as 10 seconds
 */
-template <wpi::units::ConversionFactorType ConversionFactor,
-          wpi::units::ArithmeticType T,
-          wpi::units::NumericalScaleType<T> NumericalScale>
-struct type_caster<wpi::units::unit<ConversionFactor, T, NumericalScale>> {
-  using value_type = wpi::units::unit<ConversionFactor, T, NumericalScale>;
-
+template <wpi::units::UnitType Unit>
+struct type_caster<Unit> {
   // TODO: there should be a way to include the type with this
-  PYBIND11_TYPE_CASTER(value_type, handle_type_name<value_type>::name);
+  PYBIND11_TYPE_CASTER(Unit, handle_type_name<Unit>::name);
 
   // Python -> C++
   bool load(handle src, bool convert) {
@@ -42,12 +39,12 @@ struct type_caster<wpi::units::unit<ConversionFactor, T, NumericalScale>> {
     if (!convert && !PyFloat_Check(src.ptr()))
       return false;
     auto cvted = PyFloat_AsDouble(src.ptr());
-    value = value_type(cvted);
+    value = Unit(cvted);
     return !(cvted == -1 && PyErr_Occurred());
   }
 
   // C++ -> Python
-  static handle cast(const value_type &src, return_value_policy /* policy */,
+  static handle cast(const Unit& src, return_value_policy /* policy */,
                      handle /* parent */) {
     return PyFloat_FromDouble(src.raw());
   }

wpimath/src/main/python/wpimath/_impl/src/type_casters/units_numpy_type_caster.h

@@ -1,15 +1,13 @@
 #pragma once
 
 #include <pybind11/numpy.h>
+#include <wpi/units/core.hpp>
 
 namespace pybind11 {
 namespace detail {
 
-template <wpi::units::ConversionFactorType ConversionFactor,
-          wpi::units::ArithmeticType T,
-          wpi::units::NumericalScaleType<T> NumericalScale>
-struct npy_format_descriptor<
-    wpi::units::unit<ConversionFactor, T, NumericalScale>> {
+template <wpi::units::UnitType Unit>
+struct npy_format_descriptor<Unit> {
   static constexpr auto name = const_name("numpy.float64");
   static constexpr int value = npy_api::NPY_DOUBLE_;