[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.
2026-06-23 01:21:42 +00:00 · 2024-07-27 20:23:45 -07:00
parent 5dcaa6d671
commit 158fb23072
58 changed files with 185 additions and 162 deletions
--- a/wpimath/src/main/native/include/frc/controller/struct/ArmFeedforwardStruct.h
+++ b/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";
--- a/wpimath/src/main/native/include/frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h
+++ b/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() {
--- a/wpimath/src/main/native/include/frc/controller/struct/ElevatorFeedforwardStruct.h
+++ b/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() {
--- a/wpimath/src/main/native/include/frc/geometry/struct/Ellipse2dStruct.h
+++ b/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;
  }
--- a/wpimath/src/main/native/include/frc/geometry/struct/Pose2dStruct.h
+++ b/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>();
--- a/wpimath/src/main/native/include/frc/geometry/struct/Pose3dStruct.h
+++ b/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>();
--- a/wpimath/src/main/native/include/frc/geometry/struct/QuaternionStruct.h
+++ b/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";
--- a/wpimath/src/main/native/include/frc/geometry/struct/Rectangle2dStruct.h
+++ b/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;
  }
--- a/wpimath/src/main/native/include/frc/geometry/struct/Rotation2dStruct.h
+++ b/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"; }

--- a/wpimath/src/main/native/include/frc/geometry/struct/Rotation3dStruct.h
+++ b/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>();
  }
--- a/wpimath/src/main/native/include/frc/geometry/struct/Transform2dStruct.h
+++ b/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>();
--- a/wpimath/src/main/native/include/frc/geometry/struct/Transform3dStruct.h
+++ b/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>();
--- a/wpimath/src/main/native/include/frc/geometry/struct/Translation2dStruct.h
+++ b/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"; }

--- a/wpimath/src/main/native/include/frc/geometry/struct/Translation3dStruct.h
+++ b/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";
--- a/wpimath/src/main/native/include/frc/geometry/struct/Twist2dStruct.h
+++ b/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";
--- a/wpimath/src/main/native/include/frc/geometry/struct/Twist3dStruct.h
+++ b/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";
--- a/wpimath/src/main/native/include/frc/kinematics/struct/ChassisSpeedsStruct.h
+++ b/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";
--- a/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h
+++ b/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"; }
--- a/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h
+++ b/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() {
--- a/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h
+++ b/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() {
--- a/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveKinematicsStruct.h
+++ b/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>();
--- a/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h
+++ b/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() {
--- a/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h
+++ b/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() {
--- a/wpimath/src/main/native/include/frc/kinematics/struct/SwerveModulePositionStruct.h
+++ b/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>();
--- a/wpimath/src/main/native/include/frc/kinematics/struct/SwerveModuleStateStruct.h
+++ b/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>();
--- a/wpimath/src/main/native/include/frc/system/plant/struct/DCMotorStruct.h
+++ b/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 "