[wpiutil] Struct: Change from GetTypeString() to GetTypeName() (#6872)

This makes it easier to define schemas when the type name is non-trivial (e.g., templated structs).

This is breaking for a) custom struct implementations and b) anything calling `wpi::Struct<T>::GetTypeString(info...)` in C++ directly. In both cases, it's a simple translation: For A, rename `GetTypeString()` to `GetTypeName()` and remove the struct: at the beginning, and for B, use `wpi::GetStructTypeString<T>(info...)` instead.

ntcore/src/test/native/cpp/StructTest.cpp

@@ -46,7 +46,7 @@ struct Info1 {
 
 template <>
 struct wpi::Struct<Inner> {
-  static constexpr std::string_view GetTypeString() { return "struct:Inner"; }
+  static constexpr std::string_view GetTypeName() { return "Inner"; }
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() { return "int32 a; int32 b"; }
 
@@ -62,7 +62,7 @@ struct wpi::Struct<Inner> {
 
 template <>
 struct wpi::Struct<Outer> {
-  static constexpr std::string_view GetTypeString() { return "struct:Outer"; }
+  static constexpr std::string_view GetTypeName() { return "Outer"; }
   static constexpr size_t GetSize() { return wpi::GetStructSize<Inner>() + 4; }
   static constexpr std::string_view GetSchema() {
     return "Inner inner; int32 c";
@@ -86,7 +86,7 @@ struct wpi::Struct<Outer> {
 
 template <>
 struct wpi::Struct<Inner2> {
-  static std::string_view GetTypeString() { return "struct:Inner2"; }
+  static std::string_view GetTypeName() { return "Inner2"; }
   static size_t GetSize() { return 8; }
   static std::string_view GetSchema() { return "int32 a; int32 b"; }
 
@@ -102,7 +102,7 @@ struct wpi::Struct<Inner2> {
 
 template <>
 struct wpi::Struct<Outer2> {
-  static std::string_view GetTypeString() { return "struct:Outer2"; }
+  static std::string_view GetTypeName() { return "Outer2"; }
   static size_t GetSize() { return wpi::GetStructSize<Inner>() + 4; }
   static std::string_view GetSchema() { return "Inner2 inner; int32 c"; }
 
@@ -124,7 +124,7 @@ struct wpi::Struct<Outer2> {
 
 template <>
 struct wpi::Struct<ThingA> {
-  static constexpr std::string_view GetTypeString() { return "struct:ThingA"; }
+  static constexpr std::string_view GetTypeName() { return "ThingA"; }
   static constexpr size_t GetSize() { return 1; }
   static constexpr std::string_view GetSchema() { return "uint8 value"; }
   static ThingA Unpack(std::span<const uint8_t> data) {
@@ -137,8 +137,8 @@ struct wpi::Struct<ThingA> {
 
 template <>
 struct wpi::Struct<ThingB, Info1> {
-  static constexpr std::string_view GetTypeString(const Info1&) {
-    return "struct:ThingB";
+  static constexpr std::string_view GetTypeName(const Info1&) {
+    return "ThingB";
   }
   static constexpr size_t GetSize(const Info1&) { return 1; }
   static constexpr std::string_view GetSchema(const Info1&) {

wpimath/src/main/java/edu/wpi/first/math/controller/struct/ArmFeedforwardStruct.java

@@ -15,8 +15,8 @@ public class ArmFeedforwardStruct implements Struct<ArmFeedforward> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:ArmFeedforward";
+  public String getTypeName() {
+    return "ArmFeedforward";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/controller/struct/DifferentialDriveWheelVoltagesStruct.java

@@ -16,8 +16,8 @@ public class DifferentialDriveWheelVoltagesStruct
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:DifferentialDriveWheelVoltages";
+  public String getTypeName() {
+    return "DifferentialDriveWheelVoltages";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/controller/struct/ElevatorFeedforwardStruct.java

@@ -15,8 +15,8 @@ public class ElevatorFeedforwardStruct implements Struct<ElevatorFeedforward> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:ElevatorFeedforward";
+  public String getTypeName() {
+    return "ElevatorFeedforward";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Ellipse2dStruct.java

@@ -16,8 +16,8 @@ public class Ellipse2dStruct implements Struct<Ellipse2d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Ellipse2d";
+  public String getTypeName() {
+    return "Ellipse2d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Pose2dStruct.java

@@ -17,8 +17,8 @@ public class Pose2dStruct implements Struct<Pose2d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Pose2d";
+  public String getTypeName() {
+    return "Pose2d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Pose3dStruct.java

@@ -17,8 +17,8 @@ public class Pose3dStruct implements Struct<Pose3d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Pose3d";
+  public String getTypeName() {
+    return "Pose3d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/QuaternionStruct.java

@@ -15,8 +15,8 @@ public class QuaternionStruct implements Struct<Quaternion> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Quaternion";
+  public String getTypeName() {
+    return "Quaternion";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Rectangle2dStruct.java

@@ -16,8 +16,8 @@ public class Rectangle2dStruct implements Struct<Rectangle2d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Rectangle2d";
+  public String getTypeName() {
+    return "Rectangle2d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Rotation2dStruct.java

@@ -15,8 +15,8 @@ public class Rotation2dStruct implements Struct<Rotation2d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Rotation2d";
+  public String getTypeName() {
+    return "Rotation2d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Rotation3dStruct.java

@@ -16,8 +16,8 @@ public class Rotation3dStruct implements Struct<Rotation3d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Rotation3d";
+  public String getTypeName() {
+    return "Rotation3d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Transform2dStruct.java

@@ -17,8 +17,8 @@ public class Transform2dStruct implements Struct<Transform2d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Transform2d";
+  public String getTypeName() {
+    return "Transform2d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Transform3dStruct.java

@@ -17,8 +17,8 @@ public class Transform3dStruct implements Struct<Transform3d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Transform3d";
+  public String getTypeName() {
+    return "Transform3d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Translation2dStruct.java

@@ -15,8 +15,8 @@ public class Translation2dStruct implements Struct<Translation2d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Translation2d";
+  public String getTypeName() {
+    return "Translation2d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Translation3dStruct.java

@@ -15,8 +15,8 @@ public class Translation3dStruct implements Struct<Translation3d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Translation3d";
+  public String getTypeName() {
+    return "Translation3d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Twist2dStruct.java

@@ -15,8 +15,8 @@ public class Twist2dStruct implements Struct<Twist2d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Twist2d";
+  public String getTypeName() {
+    return "Twist2d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Twist3dStruct.java

@@ -15,8 +15,8 @@ public class Twist3dStruct implements Struct<Twist3d> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:Twist3d";
+  public String getTypeName() {
+    return "Twist3d";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/ChassisSpeedsStruct.java

@@ -15,8 +15,8 @@ public class ChassisSpeedsStruct implements Struct<ChassisSpeeds> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:ChassisSpeeds";
+  public String getTypeName() {
+    return "ChassisSpeeds";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveKinematicsStruct.java

@@ -15,8 +15,8 @@ public class DifferentialDriveKinematicsStruct implements Struct<DifferentialDri
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:DifferentialDriveKinematics";
+  public String getTypeName() {
+    return "DifferentialDriveKinematics";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java

@@ -16,8 +16,8 @@ public class DifferentialDriveWheelPositionsStruct
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:DifferentialDriveWheelPositions";
+  public String getTypeName() {
+    return "DifferentialDriveWheelPositions";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.java

@@ -15,8 +15,8 @@ public class DifferentialDriveWheelSpeedsStruct implements Struct<DifferentialDr
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:DifferentialDriveWheelSpeeds";
+  public String getTypeName() {
+    return "DifferentialDriveWheelSpeeds";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveKinematicsStruct.java

@@ -16,8 +16,8 @@ public class MecanumDriveKinematicsStruct implements Struct<MecanumDriveKinemati
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:MecanumDriveKinematics";
+  public String getTypeName() {
+    return "MecanumDriveKinematics";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelPositionsStruct.java

@@ -15,8 +15,8 @@ public class MecanumDriveWheelPositionsStruct implements Struct<MecanumDriveWhee
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:MecanumDriveWheelPositions";
+  public String getTypeName() {
+    return "MecanumDriveWheelPositions";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.java

@@ -15,8 +15,8 @@ public class MecanumDriveWheelSpeedsStruct implements Struct<MecanumDriveWheelSp
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:MecanumDriveWheelSpeeds";
+  public String getTypeName() {
+    return "MecanumDriveWheelSpeeds";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModulePositionStruct.java

@@ -16,8 +16,8 @@ public class SwerveModulePositionStruct implements Struct<SwerveModulePosition>
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:SwerveModulePosition";
+  public String getTypeName() {
+    return "SwerveModulePosition";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModuleStateStruct.java

@@ -16,8 +16,8 @@ public class SwerveModuleStateStruct implements Struct<SwerveModuleState> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:SwerveModuleState";
+  public String getTypeName() {
+    return "SwerveModuleState";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/system/plant/struct/DCMotorStruct.java

@@ -15,8 +15,8 @@ public class DCMotorStruct implements Struct<DCMotor> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:DCMotor";
+  public String getTypeName() {
+    return "DCMotor";
   }
 
   @Override

wpimath/src/main/native/include/frc/controller/struct/ArmFeedforwardStruct.h

@@ -11,9 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::ArmFeedforward> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:ArmFeedforward";
-  }
+  static constexpr std::string_view GetTypeName() { return "ArmFeedforward"; }
   static constexpr size_t GetSize() { return 32; }
   static constexpr std::string_view GetSchema() {
     return "double ks;double kg;double kv;double ka";

wpimath/src/main/native/include/frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h

@@ -11,8 +11,8 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelVoltages> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:DifferentialDriveWheelVoltages";
+  static constexpr std::string_view GetTypeName() {
+    return "DifferentialDriveWheelVoltages";
   }
   static constexpr size_t GetSize() { return 16; }
   static constexpr std::string_view GetSchema() {

wpimath/src/main/native/include/frc/controller/struct/ElevatorFeedforwardStruct.h

@@ -11,8 +11,8 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::ElevatorFeedforward> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:ElevatorFeedforward";
+  static constexpr std::string_view GetTypeName() {
+    return "ElevatorFeedforward";
   }
   static constexpr size_t GetSize() { return 32; }
   static constexpr std::string_view GetSchema() {

wpimath/src/main/native/include/frc/geometry/struct/Ellipse2dStruct.h

@@ -11,9 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Ellipse2d> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:Ellipse2d";
-  }
+  static constexpr std::string_view GetTypeName() { return "Ellipse2d"; }
   static constexpr size_t GetSize() {
     return wpi::GetStructSize<frc::Pose2d>() + 16;
   }

wpimath/src/main/native/include/frc/geometry/struct/Pose2dStruct.h

@@ -11,7 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose2d> {
-  static constexpr std::string_view GetTypeString() { return "struct:Pose2d"; }
+  static constexpr std::string_view GetTypeName() { return "Pose2d"; }
   static constexpr size_t GetSize() {
     return wpi::GetStructSize<frc::Translation2d>() +
            wpi::GetStructSize<frc::Rotation2d>();

wpimath/src/main/native/include/frc/geometry/struct/Pose3dStruct.h

@@ -11,7 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose3d> {
-  static constexpr std::string_view GetTypeString() { return "struct:Pose3d"; }
+  static constexpr std::string_view GetTypeName() { return "Pose3d"; }
   static constexpr size_t GetSize() {
     return wpi::GetStructSize<frc::Translation3d>() +
            wpi::GetStructSize<frc::Rotation3d>();

wpimath/src/main/native/include/frc/geometry/struct/QuaternionStruct.h

@@ -11,9 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Quaternion> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:Quaternion";
-  }
+  static constexpr std::string_view GetTypeName() { return "Quaternion"; }
   static constexpr size_t GetSize() { return 32; }
   static constexpr std::string_view GetSchema() {
     return "double w;double x;double y;double z";

wpimath/src/main/native/include/frc/geometry/struct/Rectangle2dStruct.h

@@ -11,9 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rectangle2d> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:Rectangle2d";
-  }
+  static constexpr std::string_view GetTypeName() { return "Rectangle2d"; }
   static constexpr size_t GetSize() {
     return wpi::GetStructSize<frc::Pose2d>() + 16;
   }

wpimath/src/main/native/include/frc/geometry/struct/Rotation2dStruct.h

@@ -11,9 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation2d> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:Rotation2d";
-  }
+  static constexpr std::string_view GetTypeName() { return "Rotation2d"; }
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() { return "double value"; }
 

wpimath/src/main/native/include/frc/geometry/struct/Rotation3dStruct.h

@@ -11,9 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation3d> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:Rotation3d";
-  }
+  static constexpr std::string_view GetTypeName() { return "Rotation3d"; }
   static constexpr size_t GetSize() {
     return wpi::GetStructSize<frc::Quaternion>();
   }

wpimath/src/main/native/include/frc/geometry/struct/Transform2dStruct.h

@@ -11,9 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform2d> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:Transform2d";
-  }
+  static constexpr std::string_view GetTypeName() { return "Transform2d"; }
   static constexpr size_t GetSize() {
     return wpi::GetStructSize<frc::Translation2d>() +
            wpi::GetStructSize<frc::Rotation2d>();

wpimath/src/main/native/include/frc/geometry/struct/Transform3dStruct.h

@@ -11,9 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform3d> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:Transform3d";
-  }
+  static constexpr std::string_view GetTypeName() { return "Transform3d"; }
   static constexpr size_t GetSize() {
     return wpi::GetStructSize<frc::Translation3d>() +
            wpi::GetStructSize<frc::Rotation3d>();

wpimath/src/main/native/include/frc/geometry/struct/Translation2dStruct.h

@@ -11,9 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation2d> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:Translation2d";
-  }
+  static constexpr std::string_view GetTypeName() { return "Translation2d"; }
   static constexpr size_t GetSize() { return 16; }
   static constexpr std::string_view GetSchema() { return "double x;double y"; }
 

wpimath/src/main/native/include/frc/geometry/struct/Translation3dStruct.h

@@ -11,9 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation3d> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:Translation3d";
-  }
+  static constexpr std::string_view GetTypeName() { return "Translation3d"; }
   static constexpr size_t GetSize() { return 24; }
   static constexpr std::string_view GetSchema() {
     return "double x;double y;double z";

wpimath/src/main/native/include/frc/geometry/struct/Twist2dStruct.h

@@ -11,7 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist2d> {
-  static constexpr std::string_view GetTypeString() { return "struct:Twist2d"; }
+  static constexpr std::string_view GetTypeName() { return "Twist2d"; }
   static constexpr size_t GetSize() { return 24; }
   static constexpr std::string_view GetSchema() {
     return "double dx;double dy;double dtheta";

wpimath/src/main/native/include/frc/geometry/struct/Twist3dStruct.h

@@ -11,7 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist3d> {
-  static constexpr std::string_view GetTypeString() { return "struct:Twist3d"; }
+  static constexpr std::string_view GetTypeName() { return "Twist3d"; }
   static constexpr size_t GetSize() { return 48; }
   static constexpr std::string_view GetSchema() {
     return "double dx;double dy;double dz;double rx;double ry;double rz";

wpimath/src/main/native/include/frc/kinematics/struct/ChassisSpeedsStruct.h

@@ -11,9 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::ChassisSpeeds> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:ChassisSpeeds";
-  }
+  static constexpr std::string_view GetTypeName() { return "ChassisSpeeds"; }
   static constexpr size_t GetSize() { return 24; }
   static constexpr std::string_view GetSchema() {
     return "double vx;double vy;double omega";

wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h

@@ -11,8 +11,8 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveKinematics> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:DifferentialDriveKinematics";
+  static constexpr std::string_view GetTypeName() {
+    return "DifferentialDriveKinematics";
   }
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() { return "double track_width"; }

wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h

@@ -11,8 +11,8 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelPositions> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:DifferentialDriveWheelPositions";
+  static constexpr std::string_view GetTypeName() {
+    return "DifferentialDriveWheelPositions";
   }
   static constexpr size_t GetSize() { return 16; }
   static constexpr std::string_view GetSchema() {

wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h

@@ -11,8 +11,8 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelSpeeds> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:DifferentialDriveWheelSpeeds";
+  static constexpr std::string_view GetTypeName() {
+    return "DifferentialDriveWheelSpeeds";
   }
   static constexpr size_t GetSize() { return 16; }
   static constexpr std::string_view GetSchema() {

wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveKinematicsStruct.h

@@ -11,8 +11,8 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveKinematics> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:MecanumDriveKinematics";
+  static constexpr std::string_view GetTypeName() {
+    return "MecanumDriveKinematics";
   }
   static constexpr size_t GetSize() {
     return 4 * wpi::GetStructSize<frc::Translation2d>();

wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h

@@ -11,8 +11,8 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelPositions> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:MecanumDriveWheelPositions";
+  static constexpr std::string_view GetTypeName() {
+    return "MecanumDriveWheelPositions";
   }
   static constexpr size_t GetSize() { return 32; }
   static constexpr std::string_view GetSchema() {

wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h

@@ -11,8 +11,8 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelSpeeds> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:MecanumDriveWheelSpeeds";
+  static constexpr std::string_view GetTypeName() {
+    return "MecanumDriveWheelSpeeds";
   }
   static constexpr size_t GetSize() { return 32; }
   static constexpr std::string_view GetSchema() {

wpimath/src/main/native/include/frc/kinematics/struct/SwerveModulePositionStruct.h

@@ -11,8 +11,8 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModulePosition> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:SwerveModulePosition";
+  static constexpr std::string_view GetTypeName() {
+    return "SwerveModulePosition";
   }
   static constexpr size_t GetSize() {
     return 8 + wpi::GetStructSize<frc::Rotation2d>();

wpimath/src/main/native/include/frc/kinematics/struct/SwerveModuleStateStruct.h

@@ -11,8 +11,8 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModuleState> {
-  static constexpr std::string_view GetTypeString() {
-    return "struct:SwerveModuleState";
+  static constexpr std::string_view GetTypeName() {
+    return "SwerveModuleState";
   }
   static constexpr size_t GetSize() {
     return 8 + wpi::GetStructSize<frc::Rotation2d>();

wpimath/src/main/native/include/frc/system/plant/struct/DCMotorStruct.h

@@ -11,7 +11,7 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DCMotor> {
-  static constexpr std::string_view GetTypeString() { return "struct:DCMotor"; }
+  static constexpr std::string_view GetTypeName() { return "DCMotor"; }
   static constexpr size_t GetSize() { return 40; }
   static constexpr std::string_view GetSchema() {
     return "double nominal_voltage;double stall_torque;double "

wpiutil/src/main/java/edu/wpi/first/util/struct/Struct.java

@@ -47,13 +47,23 @@ public interface Struct<T> {
    */
   Class<T> getTypeClass();
 
+  /**
+   * Gets the type name (e.g. for schemas of other structs). This should be globally unique among
+   * structs.
+   *
+   * @return type name
+   */
+  String getTypeName();
+
   /**
    * Gets the type string (e.g. for NetworkTables). This should be globally unique and start with
    * "struct:".
    *
    * @return type string
    */
-  String getTypeString();
+  default String getTypeString() {
+    return "struct:" + getTypeName();
+  }
 
   /**
    * Gets the serialized size (in bytes). This should always be a constant.

wpiutil/src/main/native/include/wpi/DataLog.h

@@ -1309,7 +1309,8 @@ class StructLogEntry : public DataLogEntry {
       : m_info{std::move(info)...} {
     m_log = &log;
     log.AddStructSchema<T, I...>(info..., timestamp);
-    m_entry = log.Start(name, S::GetTypeString(info...), metadata, timestamp);
+    m_entry =
+        log.Start(name, GetStructTypeString<T>(info...), metadata, timestamp);
   }
 
   StructLogEntry(StructLogEntry&& rhs)

wpiutil/src/main/native/include/wpi/struct/Struct.h

@@ -49,15 +49,15 @@ struct Struct {};
  * Implementations must define a template specialization for wpi::Struct with
  * T being the type that is being serialized/deserialized, with the following
  * static members (as enforced by this concept):
- * - std::string_view GetTypeString(): function that returns the type string
+ * - std::string_view GetTypeName(): function that returns the type name
  * - size_t GetSize(): function that returns the structure size in bytes
  * - std::string_view GetSchema(): function that returns the struct schema
  * - T Unpack(std::span<const uint8_t>): function for deserialization
  * - void Pack(std::span<uint8_t>, T&& value): function for
  *   serialization
  *
- * If possible, the GetTypeString(), GetSize(), and GetSchema() functions should
- * be marked constexpr. GetTypeString() and GetSchema() may return types other
+ * If possible, the GetTypeName(), GetSize(), and GetSchema() functions should
+ * be marked constexpr. GetTypeName() and GetSchema() may return types other
  * than std::string_view, as long as the return value is convertible to
  * std::string_view.
  *
@@ -72,7 +72,7 @@ concept StructSerializable = requires(std::span<const uint8_t> in,
                   typename std::remove_cvref_t<I>...>;
   {
     Struct<typename std::remove_cvref_t<T>,
-           typename std::remove_cvref_t<I>...>::GetTypeString(info...)
+           typename std::remove_cvref_t<I>...>::GetTypeName(info...)
   } -> std::convertible_to<std::string_view>;
   {
     Struct<typename std::remove_cvref_t<T>,
@@ -229,18 +229,41 @@ inline void UnpackStructInto(T* out, std::span<const uint8_t> data,
   }
 }
 
+/**
+ * Get the type name for a raw struct serializable type
+ *
+ * @tparam T serializable type
+ * @param info optional struct type info
+ * @return type name
+ */
+template <typename T, typename... I>
+  requires StructSerializable<T, I...>
+constexpr auto GetStructTypeName(const I&... info) {
+  using S = Struct<T, typename std::remove_cvref_t<I>...>;
+  return S::GetTypeName(info...);
+}
+
 /**
  * Get the type string for a raw struct serializable type
  *
  * @tparam T serializable type
  * @param info optional struct type info
- * @return type string
+ * @return type string (struct: followed by type name)
  */
 template <typename T, typename... I>
   requires StructSerializable<T, I...>
 constexpr auto GetStructTypeString(const I&... info) {
   using S = Struct<T, typename std::remove_cvref_t<I>...>;
-  return S::GetTypeString(info...);
+  if constexpr (sizeof...(I) == 0 &&
+                is_constexpr([&] { S::GetTypeName(info...); })) {
+    constexpr auto typeName = S::GetTypeName(info...);
+    using namespace literals;
+    return Concat(
+        "struct:"_ct_string,
+        ct_string<char, std::char_traits<char>, typeName.size()>{typeName});
+  } else {
+    return fmt::format("struct:{}", S::GetTypeName(info...));
+  }
 }
 
 /**
@@ -259,32 +282,43 @@ constexpr size_t GetStructSize(const I&... info) {
 
 template <typename T, size_t N, typename... I>
   requires StructSerializable<T, I...>
-constexpr auto MakeStructArrayTypeString(const I&... info) {
+constexpr auto MakeStructArrayTypeName(const I&... info) {
   using S = Struct<T, typename std::remove_cvref_t<I>...>;
   if constexpr (sizeof...(I) == 0 &&
-                is_constexpr([&] { S::GetTypeString(info...); })) {
-    constexpr auto typeString = S::GetTypeString(info...);
+                is_constexpr([&] { S::GetTypeName(info...); })) {
+    constexpr auto typeName = S::GetTypeName(info...);
     using namespace literals;
     if constexpr (N == std::dynamic_extent) {
       return Concat(
-          ct_string<char, std::char_traits<char>, typeString.size()>{
-              typeString},
+          ct_string<char, std::char_traits<char>, typeName.size()>{typeName},
           "[]"_ct_string);
     } else {
       return Concat(
-          ct_string<char, std::char_traits<char>, typeString.size()>{
-              typeString},
+          ct_string<char, std::char_traits<char>, typeName.size()>{typeName},
           "["_ct_string, NumToCtString<N>(), "]"_ct_string);
     }
   } else {
     if constexpr (N == std::dynamic_extent) {
-      return fmt::format("{}[]", S::GetTypeString(info...));
+      return fmt::format("{}[]", S::GetTypeName(info...));
     } else {
-      return fmt::format("{}[{}]", S::GetTypeString(info...), N);
+      return fmt::format("{}[{}]", S::GetTypeName(info...), N);
     }
   }
 }
 
+template <typename T, size_t N, typename... I>
+  requires StructSerializable<T, I...>
+constexpr auto MakeStructArrayTypeString(const I&... info) {
+  using S = Struct<T, typename std::remove_cvref_t<I>...>;
+  if constexpr (sizeof...(I) == 0 &&
+                is_constexpr([&] { S::GetTypeName(info...); })) {
+    using namespace literals;
+    return Concat("struct:"_ct_string, MakeStructArrayTypeName<T, N>(info...));
+  } else {
+    return fmt::format("struct:{}", MakeStructArrayTypeName<T, N>(info...));
+  }
+}
+
 template <typename T, size_t N, typename... I>
   requires StructSerializable<T, I...>
 constexpr auto MakeStructArraySchema(const I&... info) {
@@ -336,7 +370,7 @@ void ForEachStructSchema(
   if constexpr (HasNestedStruct<T, I...>) {
     S::ForEachNested(fn, info...);
   }
-  fn(S::GetTypeString(info...), S::GetSchema(info...));
+  fn(GetStructTypeString<T>(info...), S::GetSchema(info...));
 }
 
 template <typename T, typename... I>
@@ -397,8 +431,8 @@ class StructArrayBuffer {
 template <typename T, size_t N, typename... I>
   requires StructSerializable<T, I...>
 struct Struct<std::array<T, N>, I...> {
-  static constexpr auto GetTypeString(const I&... info) {
-    return MakeStructArrayTypeString<T, N>(info...);
+  static constexpr auto GetTypeName(const I&... info) {
+    return MakeStructArrayTypeName<T, N>(info...);
   }
   static constexpr size_t GetSize(const I&... info) {
     return N * GetStructSize<T>(info...);
@@ -447,7 +481,7 @@ struct Struct<std::array<T, N>, I...> {
  */
 template <>
 struct Struct<bool> {
-  static constexpr std::string_view GetTypeString() { return "struct:bool"; }
+  static constexpr std::string_view GetTypeName() { return "bool"; }
   static constexpr size_t GetSize() { return 1; }
   static constexpr std::string_view GetSchema() { return "bool value"; }
   static bool Unpack(std::span<const uint8_t> data) { return data[0]; }
@@ -462,7 +496,7 @@ struct Struct<bool> {
  */
 template <>
 struct Struct<uint8_t> {
-  static constexpr std::string_view GetTypeString() { return "struct:uint8"; }
+  static constexpr std::string_view GetTypeName() { return "uint8"; }
   static constexpr size_t GetSize() { return 1; }
   static constexpr std::string_view GetSchema() { return "uint8 value"; }
   static uint8_t Unpack(std::span<const uint8_t> data) { return data[0]; }
@@ -475,7 +509,7 @@ struct Struct<uint8_t> {
  */
 template <>
 struct Struct<int8_t> {
-  static constexpr std::string_view GetTypeString() { return "struct:int8"; }
+  static constexpr std::string_view GetTypeName() { return "int8"; }
   static constexpr size_t GetSize() { return 1; }
   static constexpr std::string_view GetSchema() { return "int8 value"; }
   static int8_t Unpack(std::span<const uint8_t> data) { return data[0]; }
@@ -488,7 +522,7 @@ struct Struct<int8_t> {
  */
 template <>
 struct Struct<uint16_t> {
-  static constexpr std::string_view GetTypeString() { return "struct:uint16"; }
+  static constexpr std::string_view GetTypeName() { return "uint16"; }
   static constexpr size_t GetSize() { return 2; }
   static constexpr std::string_view GetSchema() { return "uint16 value"; }
   static uint16_t Unpack(std::span<const uint8_t> data) {
@@ -505,7 +539,7 @@ struct Struct<uint16_t> {
  */
 template <>
 struct Struct<int16_t> {
-  static constexpr std::string_view GetTypeString() { return "struct:int16"; }
+  static constexpr std::string_view GetTypeName() { return "int16"; }
   static constexpr size_t GetSize() { return 2; }
   static constexpr std::string_view GetSchema() { return "int16 value"; }
   static int16_t Unpack(std::span<const uint8_t> data) {
@@ -522,7 +556,7 @@ struct Struct<int16_t> {
  */
 template <>
 struct Struct<uint32_t> {
-  static constexpr std::string_view GetTypeString() { return "struct:uint32"; }
+  static constexpr std::string_view GetTypeName() { return "uint32"; }
   static constexpr size_t GetSize() { return 4; }
   static constexpr std::string_view GetSchema() { return "uint32 value"; }
   static uint32_t Unpack(std::span<const uint8_t> data) {
@@ -539,7 +573,7 @@ struct Struct<uint32_t> {
  */
 template <>
 struct Struct<int32_t> {
-  static constexpr std::string_view GetTypeString() { return "struct:int32"; }
+  static constexpr std::string_view GetTypeName() { return "int32"; }
   static constexpr size_t GetSize() { return 4; }
   static constexpr std::string_view GetSchema() { return "int32 value"; }
   static int32_t Unpack(std::span<const uint8_t> data) {
@@ -556,7 +590,7 @@ struct Struct<int32_t> {
  */
 template <>
 struct Struct<uint64_t> {
-  static constexpr std::string_view GetTypeString() { return "struct:uint64"; }
+  static constexpr std::string_view GetTypeName() { return "uint64"; }
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() { return "uint64 value"; }
   static uint64_t Unpack(std::span<const uint8_t> data) {
@@ -573,7 +607,7 @@ struct Struct<uint64_t> {
  */
 template <>
 struct Struct<int64_t> {
-  static constexpr std::string_view GetTypeString() { return "struct:int64"; }
+  static constexpr std::string_view GetTypeName() { return "int64"; }
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() { return "int64 value"; }
   static int64_t Unpack(std::span<const uint8_t> data) {
@@ -590,7 +624,7 @@ struct Struct<int64_t> {
  */
 template <>
 struct Struct<float> {
-  static constexpr std::string_view GetTypeString() { return "struct:float"; }
+  static constexpr std::string_view GetTypeName() { return "float"; }
   static constexpr size_t GetSize() { return 4; }
   static constexpr std::string_view GetSchema() { return "float value"; }
   static float Unpack(std::span<const uint8_t> data) {
@@ -607,7 +641,7 @@ struct Struct<float> {
  */
 template <>
 struct Struct<double> {
-  static constexpr std::string_view GetTypeString() { return "struct:double"; }
+  static constexpr std::string_view GetTypeName() { return "double"; }
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() { return "double value"; }
   static double Unpack(std::span<const uint8_t> data) {

wpiutil/src/test/java/edu/wpi/first/util/datalog/DataLogTest.java

@@ -27,8 +27,8 @@ class DataLogTest {
     }
 
     @Override
-    public String getTypeString() {
-      return "struct:Thing";
+    public String getTypeName() {
+      return "Thing";
     }
 
     @Override
@@ -84,8 +84,8 @@ class DataLogTest {
     }
 
     @Override
-    public String getTypeString() {
-      return "struct:Thing";
+    public String getTypeName() {
+      return "Thing";
     }
 
     @Override
@@ -156,8 +156,8 @@ class DataLogTest {
     }
 
     @Override
-    public String getTypeString() {
-      return "struct:Thing";
+    public String getTypeName() {
+      return "Thing";
     }
 
     @Override

wpiutil/src/test/native/cpp/DataLogTest.cpp

@@ -39,7 +39,7 @@ struct Info2 {
 
 template <>
 struct wpi::Struct<ThingA> {
-  static constexpr std::string_view GetTypeString() { return "struct:ThingA"; }
+  static constexpr std::string_view GetTypeName() { return "ThingA"; }
   static constexpr size_t GetSize() { return 1; }
   static constexpr std::string_view GetSchema() { return "uint8 value"; }
   static ThingA Unpack(std::span<const uint8_t> data) {
@@ -52,8 +52,8 @@ struct wpi::Struct<ThingA> {
 
 template <>
 struct wpi::Struct<ThingB, Info1> {
-  static constexpr std::string_view GetTypeString(const Info1&) {
-    return "struct:ThingB";
+  static constexpr std::string_view GetTypeName(const Info1&) {
+    return "ThingB";
   }
   static constexpr size_t GetSize(const Info1&) { return 1; }
   static constexpr std::string_view GetSchema(const Info1&) {
@@ -69,7 +69,7 @@ struct wpi::Struct<ThingB, Info1> {
 
 template <>
 struct wpi::Struct<ThingC> {
-  static constexpr std::string_view GetTypeString() { return "struct:ThingC"; }
+  static constexpr std::string_view GetTypeName() { return "ThingC"; }
   static constexpr size_t GetSize() { return 1; }
   static constexpr std::string_view GetSchema() { return "uint8 value"; }
   static ThingC Unpack(std::span<const uint8_t> data) {
@@ -82,8 +82,8 @@ struct wpi::Struct<ThingC> {
 
 template <>
 struct wpi::Struct<ThingC, Info1> {
-  static constexpr std::string_view GetTypeString(const Info1&) {
-    return "struct:ThingC";
+  static constexpr std::string_view GetTypeName(const Info1&) {
+    return "ThingC";
   }
   static constexpr size_t GetSize(const Info1&) { return 1; }
   static constexpr std::string_view GetSchema(const Info1&) {
@@ -99,8 +99,8 @@ struct wpi::Struct<ThingC, Info1> {
 
 template <>
 struct wpi::Struct<ThingC, Info2> {
-  static constexpr std::string_view GetTypeString(const Info2&) {
-    return "struct:ThingC";
+  static constexpr std::string_view GetTypeName(const Info2&) {
+    return "ThingC";
   }
   static constexpr size_t GetSize(const Info2&) { return 1; }
   static constexpr std::string_view GetSchema(const Info2&) {