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[wpimath] Struct cleanup (#6011)

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This commit is contained in:
Joseph Eng
2023-12-04 22:40:18 -08:00
committed by GitHub
parent 90757b9e90
commit 14c3ade155
32 changed files with 95 additions and 49 deletions
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18
wpimath/src/main/native/include/frc/controller/struct/ArmFeedforwardStruct.h
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@@ -11,12 +11,16 @@
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::ArmFeedforward> {
static constexpr std::string_view kTypeString = "struct:ArmFeedforward";
static constexpr size_t kSize = 32;
static constexpr std::string_view kSchema =
"double ks;double kg;double kv;double ka";
static constexpr std::string_view GetTypeString() {
return "struct:ArmFeedforward";
}
static constexpr size_t GetSize() { return 32; }
static constexpr std::string_view GetSchema() {
return "double ks;double kg;double kv;double ka";
}
static frc::ArmFeedforward Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::ArmFeedforward& value);
static frc::ArmFeedforward Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data, const frc::ArmFeedforward& value);
};
static_assert(wpi::StructSerializable<frc::ArmFeedforward>);

17
wpimath/src/main/native/include/frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h
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@@ -11,13 +11,18 @@
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelVoltages> {
static constexpr std::string_view kTypeString =
"struct:DifferentialDriveWheelVoltages";
static constexpr size_t kSize = 16;
static constexpr std::string_view kSchema = "double left;double right";
static constexpr std::string_view GetTypeString() {
return "struct:DifferentialDriveWheelVoltages";
}
static constexpr size_t GetSize() { return 16; }
static constexpr std::string_view GetSchema() {
return "double left;double right";
}
static frc::DifferentialDriveWheelVoltages Unpack(
std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data,
const frc::DifferentialDriveWheelVoltages& value);
};
static_assert(wpi::StructSerializable<frc::DifferentialDriveWheelVoltages>);

17
wpimath/src/main/native/include/frc/controller/struct/ElevatorFeedforwardStruct.h
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@@ -11,12 +11,17 @@
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::ElevatorFeedforward> {
static constexpr std::string_view kTypeString = "struct:ElevatorFeedforward";
static constexpr size_t kSize = 32;
static constexpr std::string_view kSchema =
"double ks;double kg;double kv;double ka";
static constexpr std::string_view GetTypeString() {
return "struct:ElevatorFeedforward";
}
static constexpr size_t GetSize() { return 32; }
static constexpr std::string_view GetSchema() {
return "double ks;double kg;double kv;double ka";
}
static frc::ElevatorFeedforward Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
static frc::ElevatorFeedforward Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data,
const frc::ElevatorFeedforward& value);
};
static_assert(wpi::StructSerializable<frc::ElevatorFeedforward>);

1
wpimath/src/main/native/include/frc/geometry/struct/Pose2dStruct.h
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@@ -29,4 +29,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose2d> {
}
};
static_assert(wpi::StructSerializable<frc::Pose2d>);
static_assert(wpi::HasNestedStruct<frc::Pose2d>);

1
wpimath/src/main/native/include/frc/geometry/struct/Pose3dStruct.h
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@@ -29,4 +29,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose3d> {
}
};
static_assert(wpi::StructSerializable<frc::Pose3d>);
static_assert(wpi::HasNestedStruct<frc::Pose3d>);

2
wpimath/src/main/native/include/frc/geometry/struct/QuaternionStruct.h
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@@ -22,3 +22,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::Quaternion> {
static frc::Quaternion Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data, const frc::Quaternion& value);
};
static_assert(wpi::StructSerializable<frc::Quaternion>);

2
wpimath/src/main/native/include/frc/geometry/struct/Rotation2dStruct.h
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@@ -20,3 +20,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation2d> {
static frc::Rotation2d Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data, const frc::Rotation2d& value);
};
static_assert(wpi::StructSerializable<frc::Rotation2d>);

1
wpimath/src/main/native/include/frc/geometry/struct/Rotation3dStruct.h
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@@ -27,4 +27,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation3d> {
}
};
static_assert(wpi::StructSerializable<frc::Rotation3d>);
static_assert(wpi::HasNestedStruct<frc::Rotation3d>);

1
wpimath/src/main/native/include/frc/geometry/struct/Transform2dStruct.h
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@@ -31,4 +31,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform2d> {
}
};
static_assert(wpi::StructSerializable<frc::Transform2d>);
static_assert(wpi::HasNestedStruct<frc::Transform2d>);

1
wpimath/src/main/native/include/frc/geometry/struct/Transform3dStruct.h
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@@ -31,4 +31,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform3d> {
}
};
static_assert(wpi::StructSerializable<frc::Transform3d>);
static_assert(wpi::HasNestedStruct<frc::Transform3d>);

2
wpimath/src/main/native/include/frc/geometry/struct/Translation2dStruct.h
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@@ -20,3 +20,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation2d> {
static frc::Translation2d Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data, const frc::Translation2d& value);
};
static_assert(wpi::StructSerializable<frc::Translation2d>);

2
wpimath/src/main/native/include/frc/geometry/struct/Translation3dStruct.h
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@@ -22,3 +22,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation3d> {
static frc::Translation3d Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data, const frc::Translation3d& value);
};
static_assert(wpi::StructSerializable<frc::Translation3d>);

2
wpimath/src/main/native/include/frc/geometry/struct/Twist2dStruct.h
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@@ -20,3 +20,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist2d> {
static frc::Twist2d Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data, const frc::Twist2d& value);
};
static_assert(wpi::StructSerializable<frc::Twist2d>);

2
wpimath/src/main/native/include/frc/geometry/struct/Twist3dStruct.h
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@@ -20,3 +20,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist3d> {
static frc::Twist3d Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data, const frc::Twist3d& value);
};
static_assert(wpi::StructSerializable<frc::Twist3d>);

2
wpimath/src/main/native/include/frc/kinematics/struct/ChassisSpeedsStruct.h
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@@ -22,3 +22,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::ChassisSpeeds> {
static frc::ChassisSpeeds Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data, const frc::ChassisSpeeds& value);
};
static_assert(wpi::StructSerializable<frc::ChassisSpeeds>);

2
wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h
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@@ -21,3 +21,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveKinematics> {
static void Pack(std::span<uint8_t> data,
const frc::DifferentialDriveKinematics& value);
};
static_assert(wpi::StructSerializable<frc::DifferentialDriveKinematics>);

2
wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h
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@@ -24,3 +24,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelSpeeds> {
static void Pack(std::span<uint8_t> data,
const frc::DifferentialDriveWheelSpeeds& value);
};
static_assert(wpi::StructSerializable<frc::DifferentialDriveWheelSpeeds>);

1
wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveKinematicsStruct.h
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@@ -31,4 +31,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveKinematics> {
}
};
static_assert(wpi::StructSerializable<frc::MecanumDriveKinematics>);
static_assert(wpi::HasNestedStruct<frc::MecanumDriveKinematics>);

2
wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h
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@@ -24,3 +24,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelPositions> {
static void Pack(std::span<uint8_t> data,
const frc::MecanumDriveWheelPositions& value);
};
static_assert(wpi::StructSerializable<frc::MecanumDriveWheelPositions>);

2
wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h
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@@ -24,3 +24,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelSpeeds> {
static void Pack(std::span<uint8_t> data,
const frc::MecanumDriveWheelSpeeds& value);
};
static_assert(wpi::StructSerializable<frc::MecanumDriveWheelSpeeds>);

1
wpimath/src/main/native/include/frc/kinematics/struct/SwerveModulePositionStruct.h
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@@ -30,4 +30,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModulePosition> {
}
};
static_assert(wpi::StructSerializable<frc::SwerveModulePosition>);
static_assert(wpi::HasNestedStruct<frc::SwerveModulePosition>);

1
wpimath/src/main/native/include/frc/kinematics/struct/SwerveModuleStateStruct.h
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@@ -30,4 +30,5 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModuleState> {
}
};
static_assert(wpi::StructSerializable<frc::SwerveModuleState>);
static_assert(wpi::HasNestedStruct<frc::SwerveModuleState>);

18
wpimath/src/main/native/include/frc/system/plant/struct/DCMotorStruct.h
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@@ -11,12 +11,16 @@
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::DCMotor> {
static constexpr std::string_view kTypeString = "struct:DCMotor";
static constexpr size_t kSize = 40;
static constexpr std::string_view kSchema =
"double nominal_voltage;double stall_torque;double stall_current;double "
"free_current;double free_speed";
static constexpr std::string_view GetTypeString() { return "struct:DCMotor"; }
static constexpr size_t GetSize() { return 40; }
static constexpr std::string_view GetSchema() {
return "double nominal_voltage;double stall_torque;double "
"stall_current;double "
"free_current;double free_speed";
}
static frc::DCMotor Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data, const frc::DCMotor& value);
static frc::DCMotor Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data, const frc::DCMotor& value);
};
static_assert(wpi::StructSerializable<frc::DCMotor>);