[wpimath] Move struct/proto classes to separate files (#5918)

Also add unit tests.

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

@@ -0,0 +1,26 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/geometry/Pose2d.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose2d> {
+  static constexpr std::string_view kTypeString = "struct:Pose2d";
+  static constexpr size_t kSize = wpi::Struct<frc::Translation2d>::kSize +
+                                  wpi::Struct<frc::Rotation2d>::kSize;
+  static constexpr std::string_view kSchema =
+      "Translation2d translation;Rotation2d rotation";
+
+  static frc::Pose2d Unpack(std::span<const uint8_t, kSize> data);
+  static void Pack(std::span<uint8_t, kSize> data, const frc::Pose2d& value);
+  static void ForEachNested(
+      std::invocable<std::string_view, std::string_view> auto fn);
+};
+
+static_assert(wpi::HasNestedStruct<frc::Pose2d>);

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

@@ -0,0 +1,26 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/geometry/Pose3d.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose3d> {
+  static constexpr std::string_view kTypeString = "struct:Pose3d";
+  static constexpr size_t kSize = wpi::Struct<frc::Translation3d>::kSize +
+                                  wpi::Struct<frc::Rotation3d>::kSize;
+  static constexpr std::string_view kSchema =
+      "Translation3d translation;Rotation3d rotation";
+
+  static frc::Pose3d Unpack(std::span<const uint8_t, kSize> data);
+  static void Pack(std::span<uint8_t, kSize> data, const frc::Pose3d& value);
+  static void ForEachNested(
+      std::invocable<std::string_view, std::string_view> auto fn);
+};
+
+static_assert(wpi::HasNestedStruct<frc::Pose3d>);

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

@@ -0,0 +1,22 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/geometry/Quaternion.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::Quaternion> {
+  static constexpr std::string_view kTypeString = "struct:Quaternion";
+  static constexpr size_t kSize = 32;
+  static constexpr std::string_view kSchema =
+      "double w;double x;double y;double z";
+
+  static frc::Quaternion Unpack(std::span<const uint8_t, kSize> data);
+  static void Pack(std::span<uint8_t, kSize> data,
+                   const frc::Quaternion& value);
+};

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

@@ -0,0 +1,21 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/geometry/Rotation2d.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation2d> {
+  static constexpr std::string_view kTypeString = "struct:Rotation2d";
+  static constexpr size_t kSize = 8;
+  static constexpr std::string_view kSchema = "double value";
+
+  static frc::Rotation2d Unpack(std::span<const uint8_t, kSize> data);
+  static void Pack(std::span<uint8_t, kSize> data,
+                   const frc::Rotation2d& value);
+};

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

@@ -0,0 +1,25 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/geometry/Rotation3d.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation3d> {
+  static constexpr std::string_view kTypeString = "struct:Rotation3d";
+  static constexpr size_t kSize = wpi::Struct<frc::Quaternion>::kSize;
+  static constexpr std::string_view kSchema = "Quaternion q";
+
+  static frc::Rotation3d Unpack(std::span<const uint8_t, kSize> data);
+  static void Pack(std::span<uint8_t, kSize> data,
+                   const frc::Rotation3d& value);
+  static void ForEachNested(
+      std::invocable<std::string_view, std::string_view> auto fn);
+};
+
+static_assert(wpi::HasNestedStruct<frc::Rotation3d>);

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

@@ -0,0 +1,27 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/geometry/Transform2d.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform2d> {
+  static constexpr std::string_view kTypeString = "struct:Transform2d";
+  static constexpr size_t kSize = wpi::Struct<frc::Translation2d>::kSize +
+                                  wpi::Struct<frc::Rotation2d>::kSize;
+  static constexpr std::string_view kSchema =
+      "Translation2d translation;Rotation2d rotation";
+
+  static frc::Transform2d Unpack(std::span<const uint8_t, kSize> data);
+  static void Pack(std::span<uint8_t, kSize> data,
+                   const frc::Transform2d& value);
+  static void ForEachNested(
+      std::invocable<std::string_view, std::string_view> auto fn);
+};
+
+static_assert(wpi::HasNestedStruct<frc::Transform2d>);

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

@@ -0,0 +1,27 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/geometry/Transform3d.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform3d> {
+  static constexpr std::string_view kTypeString = "struct:Transform3d";
+  static constexpr size_t kSize = wpi::Struct<frc::Translation3d>::kSize +
+                                  wpi::Struct<frc::Rotation3d>::kSize;
+  static constexpr std::string_view kSchema =
+      "Translation3d translation;Rotation3d rotation";
+
+  static frc::Transform3d Unpack(std::span<const uint8_t, kSize> data);
+  static void Pack(std::span<uint8_t, kSize> data,
+                   const frc::Transform3d& value);
+  static void ForEachNested(
+      std::invocable<std::string_view, std::string_view> auto fn);
+};
+
+static_assert(wpi::HasNestedStruct<frc::Transform3d>);

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

@@ -0,0 +1,21 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/geometry/Translation2d.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation2d> {
+  static constexpr std::string_view kTypeString = "struct:Translation2d";
+  static constexpr size_t kSize = 16;
+  static constexpr std::string_view kSchema = "double x;double y";
+
+  static frc::Translation2d Unpack(std::span<const uint8_t, kSize> data);
+  static void Pack(std::span<uint8_t, kSize> data,
+                   const frc::Translation2d& value);
+};

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

@@ -0,0 +1,21 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/geometry/Translation3d.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation3d> {
+  static constexpr std::string_view kTypeString = "struct:Translation3d";
+  static constexpr size_t kSize = 24;
+  static constexpr std::string_view kSchema = "double x;double y;double z";
+
+  static frc::Translation3d Unpack(std::span<const uint8_t, kSize> data);
+  static void Pack(std::span<uint8_t, kSize> data,
+                   const frc::Translation3d& value);
+};

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

@@ -0,0 +1,21 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/geometry/Twist2d.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist2d> {
+  static constexpr std::string_view kTypeString = "struct:Twist2d";
+  static constexpr size_t kSize = 24;
+  static constexpr std::string_view kSchema =
+      "double dx;double dy;double dtheta";
+
+  static frc::Twist2d Unpack(std::span<const uint8_t, kSize> data);
+  static void Pack(std::span<uint8_t, kSize> data, const frc::Twist2d& value);
+};

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

@@ -0,0 +1,21 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/geometry/Twist3d.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist3d> {
+  static constexpr std::string_view kTypeString = "struct:Twist3d";
+  static constexpr size_t kSize = 48;
+  static constexpr std::string_view kSchema =
+      "double dx;double dy;double dz;double rx;double ry;double rz";
+
+  static frc::Twist3d Unpack(std::span<const uint8_t, kSize> data);
+  static void Pack(std::span<uint8_t, kSize> data, const frc::Twist3d& value);
+};