From a583ca01e1139ecd7b76560a4537dfeb2080b172 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Sat, 2 Dec 2023 23:36:44 -0800
Subject: [PATCH] [wpiutil] Change Struct to allow non-constexpr implementation
 (#5992)

This required changing the constant values (e.g. kSize) into functions
(e.g. GetSize()).

Fixed implementations of ForEachNested to be inline (as these are actually
templates).

Also added a ntcore Struct test.
---
 .../include/networktables/StructArrayTopic.h  |  29 +-
 .../include/networktables/StructTopic.h       |  54 ++--
 ntcore/src/test/native/cpp/StructTest.cpp     | 296 +++++++++++++++++
 .../cpp/geometry/struct/Pose2dStruct.cpp      |  13 +-
 .../cpp/geometry/struct/Pose3dStruct.cpp      |  13 +-
 .../cpp/geometry/struct/QuaternionStruct.cpp  |   5 +-
 .../cpp/geometry/struct/Rotation2dStruct.cpp  |   5 +-
 .../cpp/geometry/struct/Rotation3dStruct.cpp  |  10 +-
 .../cpp/geometry/struct/Transform2dStruct.cpp |  13 +-
 .../cpp/geometry/struct/Transform3dStruct.cpp |  13 +-
 .../geometry/struct/Translation2dStruct.cpp   |   4 +-
 .../geometry/struct/Translation3dStruct.cpp   |   4 +-
 .../cpp/geometry/struct/Twist2dStruct.cpp     |   5 +-
 .../cpp/geometry/struct/Twist3dStruct.cpp     |   5 +-
 .../kinematics/struct/ChassisSpeedsStruct.cpp |   4 +-
 .../DifferentialDriveKinematicsStruct.cpp     |   4 +-
 .../DifferentialDriveWheelSpeedsStruct.cpp    |   4 +-
 .../struct/MecanumDriveKinematicsStruct.cpp   |  16 +-
 .../MecanumDriveWheelPositionsStruct.cpp      |   4 +-
 .../struct/MecanumDriveWheelSpeedsStruct.cpp  |   5 +-
 .../struct/SwerveModulePositionStruct.cpp     |  10 +-
 .../struct/SwerveModuleStateStruct.cpp        |  10 +-
 .../frc/geometry/struct/Pose2dStruct.h        |  22 +-
 .../frc/geometry/struct/Pose3dStruct.h        |  22 +-
 .../frc/geometry/struct/QuaternionStruct.h    |  16 +-
 .../frc/geometry/struct/Rotation2dStruct.h    |  13 +-
 .../frc/geometry/struct/Rotation3dStruct.h    |  19 +-
 .../frc/geometry/struct/Transform2dStruct.h   |  25 +-
 .../frc/geometry/struct/Transform3dStruct.h   |  25 +-
 .../frc/geometry/struct/Translation2dStruct.h |  13 +-
 .../frc/geometry/struct/Translation3dStruct.h |  15 +-
 .../frc/geometry/struct/Twist2dStruct.h       |  13 +-
 .../frc/geometry/struct/Twist3dStruct.h       |  13 +-
 .../kinematics/struct/ChassisSpeedsStruct.h   |  16 +-
 .../DifferentialDriveKinematicsStruct.h       |  14 +-
 .../DifferentialDriveWheelSpeedsStruct.h      |  15 +-
 .../struct/MecanumDriveKinematicsStruct.h     |  25 +-
 .../struct/MecanumDriveWheelPositionsStruct.h |  18 +-
 .../struct/MecanumDriveWheelSpeedsStruct.h    |  18 +-
 .../struct/SwerveModulePositionStruct.h       |  21 +-
 .../struct/SwerveModuleStateStruct.h          |  20 +-
 .../cpp/geometry/struct/Pose2dStructTest.cpp  |   4 +-
 .../cpp/geometry/struct/Pose3dStructTest.cpp  |   4 +-
 .../geometry/struct/QuaternionStructTest.cpp  |   4 +-
 .../geometry/struct/Rotation2dStructTest.cpp  |   4 +-
 .../geometry/struct/Rotation3dStructTest.cpp  |   4 +-
 .../geometry/struct/Transform2dStructTest.cpp |   4 +-
 .../geometry/struct/Transform3dStructTest.cpp |   4 +-
 .../struct/Translation2dStructTest.cpp        |   4 +-
 .../struct/Translation3dStructTest.cpp        |   4 +-
 .../cpp/geometry/struct/Twist2dStructTest.cpp |   4 +-
 .../cpp/geometry/struct/Twist3dStructTest.cpp |   4 +-
 .../struct/ChassisSpeedsStructTest.cpp        |   4 +-
 .../DifferentialDriveKinematicsStructTest.cpp |   4 +-
 ...DifferentialDriveWheelSpeedsStructTest.cpp |   4 +-
 .../MecanumDriveKinematicsStructTest.cpp      |   4 +-
 .../MecanumDriveWheelPositionsStructTest.cpp  |   4 +-
 .../MecanumDriveWheelSpeedsStructTest.cpp     |   4 +-
 .../struct/SwerveModulePositionStructTest.cpp |   4 +-
 .../struct/SwerveModuleStateStructTest.cpp    |   4 +-
 wpiutil/src/main/native/include/wpi/DataLog.h |  13 +-
 .../main/native/include/wpi/struct/Struct.h   | 304 ++++++++++--------
 62 files changed, 812 insertions(+), 450 deletions(-)
 create mode 100644 ntcore/src/test/native/cpp/StructTest.cpp

diff --git a/ntcore/src/main/native/include/networktables/StructArrayTopic.h b/ntcore/src/main/native/include/networktables/StructArrayTopic.h
index bb5bed2ef3..f3529eafd2 100644
--- a/ntcore/src/main/native/include/networktables/StructArrayTopic.h
+++ b/ntcore/src/main/native/include/networktables/StructArrayTopic.h
@@ -7,9 +7,9 @@
 #include <stdint.h>
 
 #include <atomic>
+#include <memory>
 #include <ranges>
 #include <span>
-#include <string_view>
 #include <utility>
 #include <vector>
 
@@ -121,16 +121,17 @@ class StructArraySubscriber : public Subscriber {
 #endif
   TimestampedValueType GetAtomic(U&& defaultValue) const {
     wpi::SmallVector<uint8_t, 128> buf;
+    size_t size = S::GetSize();
     TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
-    if (view.value.size() == 0 || (view.value.size() % S::kSize) != 0) {
+    if (view.value.size() == 0 || (view.value.size() % size) != 0) {
       return {0, 0, std::forward<U>(defaultValue)};
     }
     TimestampedValueType rv{view.time, view.serverTime, {}};
-    rv.value.reserve(view.value.size() / S::kSize);
+    rv.value.reserve(view.value.size() / size);
     for (auto in = view.value.begin(), end = view.value.end(); in != end;
-         in += S::kSize) {
+         in += size) {
       rv.value.emplace_back(
-          S::Unpack(std::span<const uint8_t, S::kSize>{in, in + S::kSize}));
+          S::Unpack(std::span<const uint8_t>{std::to_address(in), size}));
     }
     return rv;
   }
@@ -145,16 +146,17 @@ class StructArraySubscriber : public Subscriber {
    */
   TimestampedValueType GetAtomic(std::span<const T> defaultValue) const {
     wpi::SmallVector<uint8_t, 128> buf;
+    size_t size = S::GetSize();
     TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
-    if (view.value.size() == 0 || (view.value.size() % S::kSize) != 0) {
+    if (view.value.size() == 0 || (view.value.size() % size) != 0) {
       return {0, 0, {defaultValue.begin(), defaultValue.end()}};
     }
     TimestampedValueType rv{view.time, view.serverTime, {}};
-    rv.value.reserve(view.value.size() / S::kSize);
+    rv.value.reserve(view.value.size() / size);
     for (auto in = view.value.begin(), end = view.value.end(); in != end;
-         in += S::kSize) {
+         in += size) {
       rv.value.emplace_back(
-          S::Unpack(std::span<const uint8_t, S::kSize>{in, in + S::kSize}));
+          S::Unpack(std::span<const uint8_t>{std::to_address(in), size}));
     }
     return rv;
   }
@@ -174,16 +176,17 @@ class StructArraySubscriber : public Subscriber {
     auto raw = ::nt::ReadQueueRaw(m_subHandle);
     std::vector<TimestampedValueType> rv;
     rv.reserve(raw.size());
+    size_t size = S::GetSize();
     for (auto&& r : raw) {
-      if (r.value.size() == 0 || (r.value.size() % S::kSize) != 0) {
+      if (r.value.size() == 0 || (r.value.size() % size) != 0) {
         continue;
       }
       std::vector<T> values;
-      values.reserve(r.value.size() / S::kSize);
+      values.reserve(r.value.size() / size);
       for (auto in = r.value.begin(), end = r.value.end(); in != end;
-           in += S::kSize) {
+           in += size) {
         values.emplace_back(
-            S::Unpack(std::span<const uint8_t, S::kSize>{in, in + S::kSize}));
+            S::Unpack(std::span<const uint8_t>{std::to_address(in), size}));
       }
       rv.emplace_back(r.time, r.serverTime, std::move(values));
     }
diff --git a/ntcore/src/main/native/include/networktables/StructTopic.h b/ntcore/src/main/native/include/networktables/StructTopic.h
index d035d3b681..08d7a770b0 100644
--- a/ntcore/src/main/native/include/networktables/StructTopic.h
+++ b/ntcore/src/main/native/include/networktables/StructTopic.h
@@ -32,6 +32,13 @@ class StructTopic;
 template <wpi::StructSerializable T>
 class StructSubscriber : public Subscriber {
   using S = wpi::Struct<T>;
+  static constexpr size_t kBufSize = []() -> size_t {
+    if constexpr (wpi::is_constexpr([] { S::GetSize(); })) {
+      return S::GetSize();
+    } else {
+      return 128;
+    }
+  }();
 
  public:
   using TopicType = StructTopic<T>;
@@ -81,12 +88,12 @@ class StructSubscriber : public Subscriber {
    * @return true if successful
    */
   bool GetInto(T* out) {
-    wpi::SmallVector<uint8_t, S::kSize> buf;
+    wpi::SmallVector<uint8_t, kBufSize> buf;
     TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
-    if (view.value.size() < S::kSize) {
+    if (view.value.size() < S::GetSize()) {
       return false;
     } else {
-      wpi::UnpackStructInto(out, view.value.subspan<0, S::kSize>());
+      wpi::UnpackStructInto(out, view.value);
       return true;
     }
   }
@@ -109,13 +116,12 @@ class StructSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(const T& defaultValue) const {
-    wpi::SmallVector<uint8_t, S::kSize> buf;
+    wpi::SmallVector<uint8_t, kBufSize> buf;
     TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
-    if (view.value.size() < S::kSize) {
+    if (view.value.size() < S::GetSize()) {
       return {0, 0, defaultValue};
     } else {
-      return {view.time, view.serverTime,
-              S::Unpack(view.value.subspan<0, S::kSize>())};
+      return {view.time, view.serverTime, S::Unpack(view.value)};
     }
   }
 
@@ -135,13 +141,11 @@ class StructSubscriber : public Subscriber {
     std::vector<TimestampedValueType> rv;
     rv.reserve(raw.size());
     for (auto&& r : raw) {
-      if (r.value.size() < S::kSize) {
+      if (r.value.size() < S::GetSize()) {
         continue;
       } else {
-        rv.emplace_back(
-            r.time, r.serverTime,
-            S::Unpack(
-                std::span<const uint8_t>(r.value).subspan<0, S::kSize>()));
+        rv.emplace_back(r.time, r.serverTime,
+                        S::Unpack(std::span<const uint8_t>(r.value)));
       }
     }
     return rv;
@@ -208,9 +212,16 @@ class StructPublisher : public Publisher {
     if (!m_schemaPublished.exchange(true, std::memory_order_relaxed)) {
       GetTopic().GetInstance().template AddStructSchema<T>();
     }
-    uint8_t buf[S::kSize];
-    S::Pack(buf, value);
-    ::nt::SetRaw(m_pubHandle, buf, time);
+    if constexpr (wpi::is_constexpr([] { S::GetSize(); })) {
+      uint8_t buf[S::GetSize()];
+      S::Pack(buf, value);
+      ::nt::SetRaw(m_pubHandle, buf, time);
+    } else {
+      wpi::SmallVector<uint8_t, 128> buf;
+      buf.resize_for_overwrite(S::GetSize());
+      S::Pack(buf, value);
+      ::nt::SetRaw(m_pubHandle, buf, time);
+    }
   }
 
   /**
@@ -224,9 +235,16 @@ class StructPublisher : public Publisher {
     if (!m_schemaPublished.exchange(true, std::memory_order_relaxed)) {
       GetTopic().GetInstance().template AddStructSchema<T>();
     }
-    uint8_t buf[S::kSize];
-    S::Pack(buf, value);
-    ::nt::SetDefaultRaw(m_pubHandle, buf);
+    if constexpr (wpi::is_constexpr([] { S::GetSize(); })) {
+      uint8_t buf[S::GetSize()];
+      S::Pack(buf, value);
+      ::nt::SetDefaultRaw(m_pubHandle, buf);
+    } else {
+      wpi::SmallVector<uint8_t, 128> buf;
+      buf.resize_for_overwrite(S::GetSize());
+      S::Pack(buf, value);
+      ::nt::SetDefaultRaw(m_pubHandle, buf);
+    }
   }
 
   /**
diff --git a/ntcore/src/test/native/cpp/StructTest.cpp b/ntcore/src/test/native/cpp/StructTest.cpp
new file mode 100644
index 0000000000..9cf0bc55f9
--- /dev/null
+++ b/ntcore/src/test/native/cpp/StructTest.cpp
@@ -0,0 +1,296 @@
+// 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.
+
+#include <gtest/gtest.h>
+#include <wpi/SpanMatcher.h>
+#include <wpi/struct/Struct.h>
+
+#include "networktables/NetworkTableInstance.h"
+#include "networktables/StructArrayTopic.h"
+#include "networktables/StructTopic.h"
+
+namespace {
+struct Inner {
+  int a;
+  int b;
+};
+
+struct Outer {
+  Inner inner;
+  int c;
+};
+
+struct Inner2 {
+  int a;
+  int b;
+};
+
+struct Outer2 {
+  Inner2 inner;
+  int c;
+};
+}  // namespace
+
+template <>
+struct wpi::Struct<Inner> {
+  static constexpr std::string_view GetTypeString() { return "struct:Inner"; }
+  static constexpr size_t GetSize() { return 8; }
+  static constexpr std::string_view GetSchema() { return "int32 a; int32 b"; }
+
+  static Inner Unpack(std::span<const uint8_t> data) {
+    return {wpi::UnpackStruct<int32_t, 0>(data),
+            wpi::UnpackStruct<int32_t, 4>(data)};
+  }
+  static void Pack(std::span<uint8_t> data, const Inner& value) {
+    wpi::PackStruct<0>(data, value.a);
+    wpi::PackStruct<4>(data, value.b);
+  }
+};
+
+template <>
+struct wpi::Struct<Outer> {
+  static constexpr std::string_view GetTypeString() { return "struct:Outer"; }
+  static constexpr size_t GetSize() { return wpi::GetStructSize<Inner>() + 4; }
+  static constexpr std::string_view GetSchema() {
+    return "Inner inner; int32 c";
+  }
+
+  static Outer Unpack(std::span<const uint8_t> data) {
+    constexpr size_t innerSize = wpi::GetStructSize<Inner>();
+    return {wpi::UnpackStruct<Inner, 0>(data),
+            wpi::UnpackStruct<int32_t, innerSize>(data)};
+  }
+  static void Pack(std::span<uint8_t> data, const Outer& value) {
+    constexpr size_t innerSize = wpi::GetStructSize<Inner>();
+    wpi::PackStruct<0>(data, value.inner);
+    wpi::PackStruct<innerSize>(data, value.c);
+  }
+  static void ForEachNested(
+      std::invocable<std::string_view, std::string_view> auto fn) {
+    wpi::ForEachStructSchema<Inner>(fn);
+  }
+};
+
+template <>
+struct wpi::Struct<Inner2> {
+  static std::string_view GetTypeString() { return "struct:Inner2"; }
+  static size_t GetSize() { return 8; }
+  static std::string_view GetSchema() { return "int32 a; int32 b"; }
+
+  static Inner2 Unpack(std::span<const uint8_t> data) {
+    return {wpi::UnpackStruct<int32_t, 0>(data),
+            wpi::UnpackStruct<int32_t, 4>(data)};
+  }
+  static void Pack(std::span<uint8_t> data, const Inner2& value) {
+    wpi::PackStruct<0>(data, value.a);
+    wpi::PackStruct<4>(data, value.b);
+  }
+};
+
+template <>
+struct wpi::Struct<Outer2> {
+  static std::string_view GetTypeString() { return "struct:Outer2"; }
+  static size_t GetSize() { return wpi::GetStructSize<Inner>() + 4; }
+  static std::string_view GetSchema() { return "Inner2 inner; int32 c"; }
+
+  static Outer2 Unpack(std::span<const uint8_t> data) {
+    size_t innerSize = wpi::GetStructSize<Inner2>();
+    return {wpi::UnpackStruct<Inner2, 0>(data),
+            wpi::UnpackStruct<int32_t>(data.subspan(innerSize))};
+  }
+  static void Pack(std::span<uint8_t> data, const Outer2& value) {
+    size_t innerSize = wpi::GetStructSize<Inner2>();
+    wpi::PackStruct<0>(data, value.inner);
+    wpi::PackStruct(data.subspan(innerSize), value.c);
+  }
+  static void ForEachNested(
+      std::invocable<std::string_view, std::string_view> auto fn) {
+    wpi::ForEachStructSchema<Inner2>(fn);
+  }
+};
+
+namespace nt {
+
+class StructTest : public ::testing::Test {
+ public:
+  StructTest() { inst = nt::NetworkTableInstance::Create(); }
+  ~StructTest() { nt::NetworkTableInstance::Destroy(inst); }
+
+  nt::NetworkTableInstance inst;
+};
+
+TEST_F(StructTest, InnerConstexpr) {
+  nt::StructTopic<Inner> topic = inst.GetStructTopic<Inner>("inner");
+  nt::StructPublisher<Inner> pub = topic.Publish();
+  nt::StructSubscriber<Inner> sub = topic.Subscribe({});
+
+  ASSERT_EQ(topic.GetTypeString(), "struct:Inner");
+
+  pub.SetDefault({0, 1});
+  Inner val = sub.Get();
+  ASSERT_EQ(val.a, 0);
+  ASSERT_EQ(val.b, 1);
+
+  pub.Set({1, 2});
+  auto atomicVal = sub.GetAtomic();
+  ASSERT_EQ(atomicVal.value.a, 1);
+  ASSERT_EQ(atomicVal.value.b, 2);
+
+  Inner val2;
+  sub.GetInto(&val2);
+  ASSERT_EQ(val2.a, 1);
+  ASSERT_EQ(val2.b, 2);
+
+  auto vals = sub.ReadQueue();
+  ASSERT_EQ(vals.size(), 1u);
+  ASSERT_EQ(vals[0].value.a, 1);
+  ASSERT_EQ(vals[0].value.b, 2);
+}
+
+TEST_F(StructTest, InnerNonconstexpr) {
+  nt::StructTopic<Inner2> topic = inst.GetStructTopic<Inner2>("inner2");
+  nt::StructPublisher<Inner2> pub = topic.Publish();
+  nt::StructSubscriber<Inner2> sub = topic.Subscribe({});
+
+  ASSERT_EQ(topic.GetTypeString(), "struct:Inner2");
+
+  pub.SetDefault({0, 1});
+  Inner2 val = sub.Get();
+  ASSERT_EQ(val.a, 0);
+  ASSERT_EQ(val.b, 1);
+
+  pub.Set({1, 2});
+  auto atomicVal = sub.GetAtomic();
+  ASSERT_EQ(atomicVal.value.a, 1);
+  ASSERT_EQ(atomicVal.value.b, 2);
+
+  Inner2 val2;
+  sub.GetInto(&val2);
+  ASSERT_EQ(val2.a, 1);
+  ASSERT_EQ(val2.b, 2);
+
+  auto vals = sub.ReadQueue();
+  ASSERT_EQ(vals.size(), 1u);
+  ASSERT_EQ(vals[0].value.a, 1);
+  ASSERT_EQ(vals[0].value.b, 2);
+}
+
+TEST_F(StructTest, OuterConstexpr) {
+  nt::StructTopic<Outer> topic = inst.GetStructTopic<Outer>("outer");
+  nt::StructPublisher<Outer> pub = topic.Publish();
+  nt::StructSubscriber<Outer> sub = topic.Subscribe({});
+
+  ASSERT_EQ(topic.GetTypeString(), "struct:Outer");
+
+  pub.SetDefault({{0, 1}, 2});
+  Outer val = sub.Get();
+  ASSERT_EQ(val.inner.a, 0);
+  ASSERT_EQ(val.inner.b, 1);
+  ASSERT_EQ(val.c, 2);
+
+  pub.Set({{1, 2}, 3});
+  auto atomicVal = sub.GetAtomic();
+  ASSERT_EQ(atomicVal.value.inner.a, 1);
+  ASSERT_EQ(atomicVal.value.inner.b, 2);
+  ASSERT_EQ(atomicVal.value.c, 3);
+
+  Outer val2;
+  sub.GetInto(&val2);
+  ASSERT_EQ(val2.inner.a, 1);
+  ASSERT_EQ(val2.inner.b, 2);
+  ASSERT_EQ(val2.c, 3);
+
+  auto vals = sub.ReadQueue();
+  ASSERT_EQ(vals.size(), 1u);
+  ASSERT_EQ(vals[0].value.inner.a, 1);
+  ASSERT_EQ(vals[0].value.inner.b, 2);
+  ASSERT_EQ(vals[0].value.c, 3);
+}
+
+TEST_F(StructTest, OuterNonconstexpr) {
+  nt::StructTopic<Outer2> topic = inst.GetStructTopic<Outer2>("outer2");
+  nt::StructPublisher<Outer2> pub = topic.Publish();
+  nt::StructSubscriber<Outer2> sub = topic.Subscribe({});
+
+  ASSERT_EQ(topic.GetTypeString(), "struct:Outer2");
+
+  pub.SetDefault({{0, 1}, 2});
+  Outer2 val = sub.Get();
+  ASSERT_EQ(val.inner.a, 0);
+  ASSERT_EQ(val.inner.b, 1);
+  ASSERT_EQ(val.c, 2);
+
+  pub.Set({{1, 2}, 3});
+  auto atomicVal = sub.GetAtomic();
+  ASSERT_EQ(atomicVal.value.inner.a, 1);
+  ASSERT_EQ(atomicVal.value.inner.b, 2);
+  ASSERT_EQ(atomicVal.value.c, 3);
+
+  Outer2 val2;
+  sub.GetInto(&val2);
+  ASSERT_EQ(val2.inner.a, 1);
+  ASSERT_EQ(val2.inner.b, 2);
+  ASSERT_EQ(val2.c, 3);
+
+  auto vals = sub.ReadQueue();
+  ASSERT_EQ(vals.size(), 1u);
+  ASSERT_EQ(vals[0].value.inner.a, 1);
+  ASSERT_EQ(vals[0].value.inner.b, 2);
+  ASSERT_EQ(vals[0].value.c, 3);
+}
+
+TEST_F(StructTest, InnerArrayConstexpr) {
+  nt::StructArrayTopic<Inner> topic = inst.GetStructArrayTopic<Inner>("innerA");
+  nt::StructArrayPublisher<Inner> pub = topic.Publish();
+  nt::StructArraySubscriber<Inner> sub = topic.Subscribe({});
+
+  ASSERT_EQ(topic.GetTypeString(), "struct:Inner[]");
+
+  pub.SetDefault({{{0, 1}}});
+  auto val = sub.Get();
+  ASSERT_EQ(val.size(), 1u);
+  ASSERT_EQ(val[0].a, 0);
+  ASSERT_EQ(val[0].b, 1);
+
+  pub.Set({{{1, 2}}});
+  auto atomicVal = sub.GetAtomic();
+  ASSERT_EQ(atomicVal.value.size(), 1u);
+  ASSERT_EQ(atomicVal.value[0].a, 1);
+  ASSERT_EQ(atomicVal.value[0].b, 2);
+
+  auto vals = sub.ReadQueue();
+  ASSERT_EQ(vals.size(), 1u);
+  ASSERT_EQ(vals[0].value.size(), 1u);
+  ASSERT_EQ(vals[0].value[0].a, 1);
+  ASSERT_EQ(vals[0].value[0].b, 2);
+}
+
+TEST_F(StructTest, InnerArrayNonconstexpr) {
+  nt::StructArrayTopic<Inner2> topic =
+      inst.GetStructArrayTopic<Inner2>("innerA2");
+  nt::StructArrayPublisher<Inner2> pub = topic.Publish();
+  nt::StructArraySubscriber<Inner2> sub = topic.Subscribe({});
+
+  ASSERT_EQ(topic.GetTypeString(), "struct:Inner2[]");
+
+  pub.SetDefault({{{0, 1}}});
+  auto val = sub.Get();
+  ASSERT_EQ(val.size(), 1u);
+  ASSERT_EQ(val[0].a, 0);
+  ASSERT_EQ(val[0].b, 1);
+
+  pub.Set({{{1, 2}}});
+  auto atomicVal = sub.GetAtomic();
+  ASSERT_EQ(atomicVal.value.size(), 1u);
+  ASSERT_EQ(atomicVal.value[0].a, 1);
+  ASSERT_EQ(atomicVal.value[0].b, 2);
+
+  auto vals = sub.ReadQueue();
+  ASSERT_EQ(vals.size(), 1u);
+  ASSERT_EQ(vals[0].value.size(), 1u);
+  ASSERT_EQ(vals[0].value[0].a, 1);
+  ASSERT_EQ(vals[0].value[0].b, 2);
+}
+
+}  // namespace nt
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp
index 68e63476ac..b1bb9aef52 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp
@@ -7,26 +7,19 @@
 namespace {
 constexpr size_t kTranslationOff = 0;
 constexpr size_t kRotationOff =
-    kTranslationOff + wpi::Struct<frc::Translation2d>::kSize;
+    kTranslationOff + wpi::GetStructSize<frc::Translation2d>();
 }  // namespace
 
 using StructType = wpi::Struct<frc::Pose2d>;
 
-frc::Pose2d StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::Pose2d StructType::Unpack(std::span<const uint8_t> data) {
   return frc::Pose2d{
       wpi::UnpackStruct<frc::Translation2d, kTranslationOff>(data),
       wpi::UnpackStruct<frc::Rotation2d, kRotationOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
-                      const frc::Pose2d& value) {
+void StructType::Pack(std::span<uint8_t> data, const frc::Pose2d& value) {
   wpi::PackStruct<kTranslationOff>(data, value.Translation());
   wpi::PackStruct<kRotationOff>(data, value.Rotation());
 }
-
-void StructType::ForEachNested(
-    std::invocable<std::string_view, std::string_view> auto fn) {
-  wpi::ForEachStructSchema<frc::Translation2d>(fn);
-  wpi::ForEachStructSchema<frc::Rotation2d>(fn);
-}
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp
index 37995781e1..104a51b935 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp
@@ -7,26 +7,19 @@
 namespace {
 constexpr size_t kTranslationOff = 0;
 constexpr size_t kRotationOff =
-    kTranslationOff + wpi::Struct<frc::Translation3d>::kSize;
+    kTranslationOff + wpi::GetStructSize<frc::Translation3d>();
 }  // namespace
 
 using StructType = wpi::Struct<frc::Pose3d>;
 
-frc::Pose3d StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::Pose3d StructType::Unpack(std::span<const uint8_t> data) {
   return frc::Pose3d{
       wpi::UnpackStruct<frc::Translation3d, kTranslationOff>(data),
       wpi::UnpackStruct<frc::Rotation3d, kRotationOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
-                      const frc::Pose3d& value) {
+void StructType::Pack(std::span<uint8_t> data, const frc::Pose3d& value) {
   wpi::PackStruct<kTranslationOff>(data, value.Translation());
   wpi::PackStruct<kRotationOff>(data, value.Rotation());
 }
-
-void StructType::ForEachNested(
-    std::invocable<std::string_view, std::string_view> auto fn) {
-  wpi::ForEachStructSchema<frc::Translation3d>(fn);
-  wpi::ForEachStructSchema<frc::Rotation3d>(fn);
-}
diff --git a/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp
index 140b6faca6..df5b7815e4 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp
@@ -13,7 +13,7 @@ constexpr size_t kZOff = kYOff + 8;
 
 using StructType = wpi::Struct<frc::Quaternion>;
 
-frc::Quaternion StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::Quaternion StructType::Unpack(std::span<const uint8_t> data) {
   return frc::Quaternion{
       wpi::UnpackStruct<double, kWOff>(data),
       wpi::UnpackStruct<double, kXOff>(data),
@@ -22,8 +22,7 @@ frc::Quaternion StructType::Unpack(std::span<const uint8_t, kSize> data) {
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
-                      const frc::Quaternion& value) {
+void StructType::Pack(std::span<uint8_t> data, const frc::Quaternion& value) {
   wpi::PackStruct<kWOff>(data, value.W());
   wpi::PackStruct<kXOff>(data, value.X());
   wpi::PackStruct<kYOff>(data, value.Y());
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp
index 8027858cb2..16d3b40d18 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp
@@ -10,13 +10,12 @@ constexpr size_t kValueOff = 0;
 
 using StructType = wpi::Struct<frc::Rotation2d>;
 
-frc::Rotation2d StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::Rotation2d StructType::Unpack(std::span<const uint8_t> data) {
   return frc::Rotation2d{
       units::radian_t{wpi::UnpackStruct<double, kValueOff>(data)},
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
-                      const frc::Rotation2d& value) {
+void StructType::Pack(std::span<uint8_t> data, const frc::Rotation2d& value) {
   wpi::PackStruct<kValueOff>(data, value.Radians().value());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp
index e2a122d561..926c7c154a 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp
@@ -10,18 +10,12 @@ constexpr size_t kQOff = 0;
 
 using StructType = wpi::Struct<frc::Rotation3d>;
 
-frc::Rotation3d StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::Rotation3d StructType::Unpack(std::span<const uint8_t> data) {
   return frc::Rotation3d{
       wpi::UnpackStruct<frc::Quaternion, kQOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
-                      const frc::Rotation3d& value) {
+void StructType::Pack(std::span<uint8_t> data, const frc::Rotation3d& value) {
   wpi::PackStruct<kQOff>(data, value.GetQuaternion());
 }
-
-void StructType::ForEachNested(
-    std::invocable<std::string_view, std::string_view> auto fn) {
-  wpi::ForEachStructSchema<frc::Quaternion>(fn);
-}
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp
index 25ef5119a0..35fa6bf8f3 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp
@@ -7,26 +7,19 @@
 namespace {
 constexpr size_t kTranslationOff = 0;
 constexpr size_t kRotationOff =
-    kTranslationOff + wpi::Struct<frc::Translation2d>::kSize;
+    kTranslationOff + wpi::GetStructSize<frc::Translation2d>();
 }  // namespace
 
 using StructType = wpi::Struct<frc::Transform2d>;
 
-frc::Transform2d StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::Transform2d StructType::Unpack(std::span<const uint8_t> data) {
   return frc::Transform2d{
       wpi::UnpackStruct<frc::Translation2d, kTranslationOff>(data),
       wpi::UnpackStruct<frc::Rotation2d, kRotationOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
-                      const frc::Transform2d& value) {
+void StructType::Pack(std::span<uint8_t> data, const frc::Transform2d& value) {
   wpi::PackStruct<kTranslationOff>(data, value.Translation());
   wpi::PackStruct<kRotationOff>(data, value.Rotation());
 }
-
-void StructType::ForEachNested(
-    std::invocable<std::string_view, std::string_view> auto fn) {
-  wpi::ForEachStructSchema<frc::Translation2d>(fn);
-  wpi::ForEachStructSchema<frc::Rotation2d>(fn);
-}
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp
index 5f169c5b2a..b428346df5 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp
@@ -7,26 +7,19 @@
 namespace {
 constexpr size_t kTranslationOff = 0;
 constexpr size_t kRotationOff =
-    kTranslationOff + wpi::Struct<frc::Translation3d>::kSize;
+    kTranslationOff + wpi::GetStructSize<frc::Translation3d>();
 }  // namespace
 
 using StructType = wpi::Struct<frc::Transform3d>;
 
-frc::Transform3d StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::Transform3d StructType::Unpack(std::span<const uint8_t> data) {
   return frc::Transform3d{
       wpi::UnpackStruct<frc::Translation3d, kTranslationOff>(data),
       wpi::UnpackStruct<frc::Rotation3d, kRotationOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
-                      const frc::Transform3d& value) {
+void StructType::Pack(std::span<uint8_t> data, const frc::Transform3d& value) {
   wpi::PackStruct<kTranslationOff>(data, value.Translation());
   wpi::PackStruct<kRotationOff>(data, value.Rotation());
 }
-
-void StructType::ForEachNested(
-    std::invocable<std::string_view, std::string_view> auto fn) {
-  wpi::ForEachStructSchema<frc::Translation3d>(fn);
-  wpi::ForEachStructSchema<frc::Rotation3d>(fn);
-}
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp
index e9deb8ea29..edf2574b9a 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp
@@ -11,14 +11,14 @@ constexpr size_t kYOff = kXOff + 8;
 
 using StructType = wpi::Struct<frc::Translation2d>;
 
-frc::Translation2d StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::Translation2d StructType::Unpack(std::span<const uint8_t> data) {
   return frc::Translation2d{
       units::meter_t{wpi::UnpackStruct<double, kXOff>(data)},
       units::meter_t{wpi::UnpackStruct<double, kYOff>(data)},
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
+void StructType::Pack(std::span<uint8_t> data,
                       const frc::Translation2d& value) {
   wpi::PackStruct<kXOff>(data, value.X().value());
   wpi::PackStruct<kYOff>(data, value.Y().value());
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp
index d747cb3c22..f69306c994 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp
@@ -12,7 +12,7 @@ constexpr size_t kZOff = kYOff + 8;
 
 using StructType = wpi::Struct<frc::Translation3d>;
 
-frc::Translation3d StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::Translation3d StructType::Unpack(std::span<const uint8_t> data) {
   return frc::Translation3d{
       units::meter_t{wpi::UnpackStruct<double, kXOff>(data)},
       units::meter_t{wpi::UnpackStruct<double, kYOff>(data)},
@@ -20,7 +20,7 @@ frc::Translation3d StructType::Unpack(std::span<const uint8_t, kSize> data) {
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
+void StructType::Pack(std::span<uint8_t> data,
                       const frc::Translation3d& value) {
   wpi::PackStruct<kXOff>(data, value.X().value());
   wpi::PackStruct<kYOff>(data, value.Y().value());
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp
index 9ad58199e4..5c71c62018 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp
@@ -12,7 +12,7 @@ constexpr size_t kDthetaOff = kDyOff + 8;
 
 using StructType = wpi::Struct<frc::Twist2d>;
 
-frc::Twist2d StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::Twist2d StructType::Unpack(std::span<const uint8_t> data) {
   return frc::Twist2d{
       units::meter_t{wpi::UnpackStruct<double, kDxOff>(data)},
       units::meter_t{wpi::UnpackStruct<double, kDyOff>(data)},
@@ -20,8 +20,7 @@ frc::Twist2d StructType::Unpack(std::span<const uint8_t, kSize> data) {
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
-                      const frc::Twist2d& value) {
+void StructType::Pack(std::span<uint8_t> data, const frc::Twist2d& value) {
   wpi::PackStruct<kDxOff>(data, value.dx.value());
   wpi::PackStruct<kDyOff>(data, value.dy.value());
   wpi::PackStruct<kDthetaOff>(data, value.dtheta.value());
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp
index f434a8f1a9..d933d4b394 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp
@@ -15,7 +15,7 @@ constexpr size_t kRzOff = kRyOff + 8;
 
 using StructType = wpi::Struct<frc::Twist3d>;
 
-frc::Twist3d StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::Twist3d StructType::Unpack(std::span<const uint8_t> data) {
   return frc::Twist3d{
       units::meter_t{wpi::UnpackStruct<double, kDxOff>(data)},
       units::meter_t{wpi::UnpackStruct<double, kDyOff>(data)},
@@ -26,8 +26,7 @@ frc::Twist3d StructType::Unpack(std::span<const uint8_t, kSize> data) {
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
-                      const frc::Twist3d& value) {
+void StructType::Pack(std::span<uint8_t> data, const frc::Twist3d& value) {
   wpi::PackStruct<kDxOff>(data, value.dx.value());
   wpi::PackStruct<kDyOff>(data, value.dy.value());
   wpi::PackStruct<kDzOff>(data, value.dz.value());
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp
index cb17a0c86d..3b9ec2bd3c 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp
@@ -12,7 +12,7 @@ constexpr size_t kOmegaOff = kVyOff + 8;
 
 using StructType = wpi::Struct<frc::ChassisSpeeds>;
 
-frc::ChassisSpeeds StructType::Unpack(std::span<const uint8_t, kSize> data) {
+frc::ChassisSpeeds StructType::Unpack(std::span<const uint8_t> data) {
   return frc::ChassisSpeeds{
       units::meters_per_second_t{wpi::UnpackStruct<double, kVxOff>(data)},
       units::meters_per_second_t{wpi::UnpackStruct<double, kVyOff>(data)},
@@ -20,7 +20,7 @@ frc::ChassisSpeeds StructType::Unpack(std::span<const uint8_t, kSize> data) {
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
+void StructType::Pack(std::span<uint8_t> data,
                       const frc::ChassisSpeeds& value) {
   wpi::PackStruct<kVxOff>(data, value.vx.value());
   wpi::PackStruct<kVyOff>(data, value.vy.value());
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
index 9ce43860f1..b7be0d2266 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
@@ -11,13 +11,13 @@ constexpr size_t kTrackWidthOff = 0;
 using StructType = wpi::Struct<frc::DifferentialDriveKinematics>;
 
 frc::DifferentialDriveKinematics StructType::Unpack(
-    std::span<const uint8_t, kSize> data) {
+    std::span<const uint8_t> data) {
   return frc::DifferentialDriveKinematics{
       units::meter_t{wpi::UnpackStruct<double, kTrackWidthOff>(data)},
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
+void StructType::Pack(std::span<uint8_t> data,
                       const frc::DifferentialDriveKinematics& value) {
   wpi::PackStruct<kTrackWidthOff>(data, value.trackWidth.value());
 }
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp
index 35c157c83d..e2ae13131c 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp
@@ -12,14 +12,14 @@ constexpr size_t kRightOff = kLeftOff + 8;
 using StructType = wpi::Struct<frc::DifferentialDriveWheelSpeeds>;
 
 frc::DifferentialDriveWheelSpeeds StructType::Unpack(
-    std::span<const uint8_t, kSize> data) {
+    std::span<const uint8_t> data) {
   return frc::DifferentialDriveWheelSpeeds{
       units::meters_per_second_t{wpi::UnpackStruct<double, kLeftOff>(data)},
       units::meters_per_second_t{wpi::UnpackStruct<double, kRightOff>(data)},
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
+void StructType::Pack(std::span<uint8_t> data,
                       const frc::DifferentialDriveWheelSpeeds& value) {
   wpi::PackStruct<kLeftOff>(data, value.left.value());
   wpi::PackStruct<kRightOff>(data, value.right.value());
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp
index 135618e5ad..261966cee1 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp
@@ -7,17 +7,16 @@
 namespace {
 constexpr size_t kFrontLeftOff = 0;
 constexpr size_t kFrontRightOff =
-    kFrontLeftOff + wpi::Struct<frc::Translation2d>::kSize;
+    kFrontLeftOff + wpi::GetStructSize<frc::Translation2d>();
 constexpr size_t kRearLeftOff =
-    kFrontRightOff + wpi::Struct<frc::Translation2d>::kSize;
+    kFrontRightOff + wpi::GetStructSize<frc::Translation2d>();
 constexpr size_t kRearRightOff =
-    kRearLeftOff + wpi::Struct<frc::Translation2d>::kSize;
+    kRearLeftOff + wpi::GetStructSize<frc::Translation2d>();
 }  // namespace
 
 using StructType = wpi::Struct<frc::MecanumDriveKinematics>;
 
-frc::MecanumDriveKinematics StructType::Unpack(
-    std::span<const uint8_t, kSize> data) {
+frc::MecanumDriveKinematics StructType::Unpack(std::span<const uint8_t> data) {
   return frc::MecanumDriveKinematics{
       wpi::UnpackStruct<frc::Translation2d, kFrontLeftOff>(data),
       wpi::UnpackStruct<frc::Translation2d, kFrontRightOff>(data),
@@ -26,15 +25,10 @@ frc::MecanumDriveKinematics StructType::Unpack(
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
+void StructType::Pack(std::span<uint8_t> data,
                       const frc::MecanumDriveKinematics& value) {
   wpi::PackStruct<kFrontLeftOff>(data, value.GetFrontLeftWheel());
   wpi::PackStruct<kFrontRightOff>(data, value.GetFrontRightWheel());
   wpi::PackStruct<kRearLeftOff>(data, value.GetRearLeftWheel());
   wpi::PackStruct<kRearRightOff>(data, value.GetRearRightWheel());
 }
-
-void StructType::ForEachNested(
-    std::invocable<std::string_view, std::string_view> auto fn) {
-  wpi::ForEachStructSchema<frc::Translation2d>(fn);
-}
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp
index d75df6e7dc..c857f4de52 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp
@@ -14,7 +14,7 @@ constexpr size_t kRearRightOff = kRearLeftOff + 8;
 using StructType = wpi::Struct<frc::MecanumDriveWheelPositions>;
 
 frc::MecanumDriveWheelPositions StructType::Unpack(
-    std::span<const uint8_t, kSize> data) {
+    std::span<const uint8_t> data) {
   return frc::MecanumDriveWheelPositions{
       units::meter_t{wpi::UnpackStruct<double, kFrontLeftOff>(data)},
       units::meter_t{wpi::UnpackStruct<double, kFrontRightOff>(data)},
@@ -23,7 +23,7 @@ frc::MecanumDriveWheelPositions StructType::Unpack(
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
+void StructType::Pack(std::span<uint8_t> data,
                       const frc::MecanumDriveWheelPositions& value) {
   wpi::PackStruct<kFrontLeftOff>(data, value.frontLeft.value());
   wpi::PackStruct<kFrontRightOff>(data, value.frontRight.value());
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp
index ef173f4f64..c232cc9828 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp
@@ -13,8 +13,7 @@ constexpr size_t kRearRightOff = kRearLeftOff + 8;
 
 using StructType = wpi::Struct<frc::MecanumDriveWheelSpeeds>;
 
-frc::MecanumDriveWheelSpeeds StructType::Unpack(
-    std::span<const uint8_t, kSize> data) {
+frc::MecanumDriveWheelSpeeds StructType::Unpack(std::span<const uint8_t> data) {
   return frc::MecanumDriveWheelSpeeds{
       units::meters_per_second_t{
           wpi::UnpackStruct<double, kFrontLeftOff>(data)},
@@ -26,7 +25,7 @@ frc::MecanumDriveWheelSpeeds StructType::Unpack(
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
+void StructType::Pack(std::span<uint8_t> data,
                       const frc::MecanumDriveWheelSpeeds& value) {
   wpi::PackStruct<kFrontLeftOff>(data, value.frontLeft.value());
   wpi::PackStruct<kFrontRightOff>(data, value.frontRight.value());
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp
index 56de1ed169..12ae0a111c 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp
@@ -11,21 +11,15 @@ constexpr size_t kAngleOff = kDistanceOff + 8;
 
 using StructType = wpi::Struct<frc::SwerveModulePosition>;
 
-frc::SwerveModulePosition StructType::Unpack(
-    std::span<const uint8_t, kSize> data) {
+frc::SwerveModulePosition StructType::Unpack(std::span<const uint8_t> data) {
   return frc::SwerveModulePosition{
       units::meter_t{wpi::UnpackStruct<double, kDistanceOff>(data)},
       wpi::UnpackStruct<frc::Rotation2d, kAngleOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
+void StructType::Pack(std::span<uint8_t> data,
                       const frc::SwerveModulePosition& value) {
   wpi::PackStruct<kDistanceOff>(data, value.distance.value());
   wpi::PackStruct<kAngleOff>(data, value.angle);
 }
-
-void StructType::ForEachNested(
-    std::invocable<std::string_view, std::string_view> auto fn) {
-  wpi::ForEachStructSchema<frc::Rotation2d>(fn);
-}
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp
index 396b223f18..b045178c10 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp
@@ -11,21 +11,15 @@ constexpr size_t kAngleOff = kSpeedOff + 8;
 
 using StructType = wpi::Struct<frc::SwerveModuleState>;
 
-frc::SwerveModuleState StructType::Unpack(
-    std::span<const uint8_t, kSize> data) {
+frc::SwerveModuleState StructType::Unpack(std::span<const uint8_t> data) {
   return frc::SwerveModuleState{
       units::meters_per_second_t{wpi::UnpackStruct<double, kSpeedOff>(data)},
       wpi::UnpackStruct<frc::Rotation2d, kAngleOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t, kSize> data,
+void StructType::Pack(std::span<uint8_t> data,
                       const frc::SwerveModuleState& value) {
   wpi::PackStruct<kSpeedOff>(data, value.speed.value());
   wpi::PackStruct<kAngleOff>(data, value.angle);
 }
-
-void StructType::ForEachNested(
-    std::invocable<std::string_view, std::string_view> auto fn) {
-  wpi::ForEachStructSchema<frc::Rotation2d>(fn);
-}
diff --git a/wpimath/src/main/native/include/frc/geometry/struct/Pose2dStruct.h b/wpimath/src/main/native/include/frc/geometry/struct/Pose2dStruct.h
index ee517fb491..a76eed546d 100644
--- a/wpimath/src/main/native/include/frc/geometry/struct/Pose2dStruct.h
+++ b/wpimath/src/main/native/include/frc/geometry/struct/Pose2dStruct.h
@@ -11,16 +11,22 @@
 
 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 constexpr std::string_view GetTypeString() { return "struct:Pose2d"; }
+  static constexpr size_t GetSize() {
+    return wpi::GetStructSize<frc::Translation2d>() +
+           wpi::GetStructSize<frc::Rotation2d>();
+  }
+  static constexpr std::string_view GetSchema() {
+    return "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 frc::Pose2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::Pose2d& value);
   static void ForEachNested(
-      std::invocable<std::string_view, std::string_view> auto fn);
+      std::invocable<std::string_view, std::string_view> auto fn) {
+    wpi::ForEachStructSchema<frc::Translation2d>(fn);
+    wpi::ForEachStructSchema<frc::Rotation2d>(fn);
+  }
 };
 
 static_assert(wpi::HasNestedStruct<frc::Pose2d>);
diff --git a/wpimath/src/main/native/include/frc/geometry/struct/Pose3dStruct.h b/wpimath/src/main/native/include/frc/geometry/struct/Pose3dStruct.h
index 2f899491a7..e3c2eb489e 100644
--- a/wpimath/src/main/native/include/frc/geometry/struct/Pose3dStruct.h
+++ b/wpimath/src/main/native/include/frc/geometry/struct/Pose3dStruct.h
@@ -11,16 +11,22 @@
 
 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 constexpr std::string_view GetTypeString() { return "struct:Pose3d"; }
+  static constexpr size_t GetSize() {
+    return wpi::GetStructSize<frc::Translation3d>() +
+           wpi::GetStructSize<frc::Rotation3d>();
+  }
+  static constexpr std::string_view GetSchema() {
+    return "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 frc::Pose3d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::Pose3d& value);
   static void ForEachNested(
-      std::invocable<std::string_view, std::string_view> auto fn);
+      std::invocable<std::string_view, std::string_view> auto fn) {
+    wpi::ForEachStructSchema<frc::Translation3d>(fn);
+    wpi::ForEachStructSchema<frc::Rotation3d>(fn);
+  }
 };
 
 static_assert(wpi::HasNestedStruct<frc::Pose3d>);
diff --git a/wpimath/src/main/native/include/frc/geometry/struct/QuaternionStruct.h b/wpimath/src/main/native/include/frc/geometry/struct/QuaternionStruct.h
index 35acd4ba35..06410325fb 100644
--- a/wpimath/src/main/native/include/frc/geometry/struct/QuaternionStruct.h
+++ b/wpimath/src/main/native/include/frc/geometry/struct/QuaternionStruct.h
@@ -11,12 +11,14 @@
 
 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 constexpr std::string_view GetTypeString() {
+    return "struct:Quaternion";
+  }
+  static constexpr size_t GetSize() { return 32; }
+  static constexpr std::string_view GetSchema() {
+    return "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);
+  static frc::Quaternion Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::Quaternion& value);
 };
diff --git a/wpimath/src/main/native/include/frc/geometry/struct/Rotation2dStruct.h b/wpimath/src/main/native/include/frc/geometry/struct/Rotation2dStruct.h
index ce4f7a6f02..127a2027af 100644
--- a/wpimath/src/main/native/include/frc/geometry/struct/Rotation2dStruct.h
+++ b/wpimath/src/main/native/include/frc/geometry/struct/Rotation2dStruct.h
@@ -11,11 +11,12 @@
 
 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 constexpr std::string_view GetTypeString() {
+    return "struct:Rotation2d";
+  }
+  static constexpr size_t GetSize() { return 8; }
+  static constexpr std::string_view GetSchema() { return "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);
+  static frc::Rotation2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::Rotation2d& value);
 };
diff --git a/wpimath/src/main/native/include/frc/geometry/struct/Rotation3dStruct.h b/wpimath/src/main/native/include/frc/geometry/struct/Rotation3dStruct.h
index 9d73f72d40..d1cc1f0ca8 100644
--- a/wpimath/src/main/native/include/frc/geometry/struct/Rotation3dStruct.h
+++ b/wpimath/src/main/native/include/frc/geometry/struct/Rotation3dStruct.h
@@ -11,15 +11,20 @@
 
 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 constexpr std::string_view GetTypeString() {
+    return "struct:Rotation3d";
+  }
+  static constexpr size_t GetSize() {
+    return wpi::GetStructSize<frc::Quaternion>();
+  }
+  static constexpr std::string_view GetSchema() { return "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 frc::Rotation3d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::Rotation3d& value);
   static void ForEachNested(
-      std::invocable<std::string_view, std::string_view> auto fn);
+      std::invocable<std::string_view, std::string_view> auto fn) {
+    wpi::ForEachStructSchema<frc::Quaternion>(fn);
+  }
 };
 
 static_assert(wpi::HasNestedStruct<frc::Rotation3d>);
diff --git a/wpimath/src/main/native/include/frc/geometry/struct/Transform2dStruct.h b/wpimath/src/main/native/include/frc/geometry/struct/Transform2dStruct.h
index 55f0ef8604..36438b577b 100644
--- a/wpimath/src/main/native/include/frc/geometry/struct/Transform2dStruct.h
+++ b/wpimath/src/main/native/include/frc/geometry/struct/Transform2dStruct.h
@@ -11,17 +11,24 @@
 
 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 constexpr std::string_view GetTypeString() {
+    return "struct:Transform2d";
+  }
+  static constexpr size_t GetSize() {
+    return wpi::GetStructSize<frc::Translation2d>() +
+           wpi::GetStructSize<frc::Rotation2d>();
+  }
+  static constexpr std::string_view GetSchema() {
+    return "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 frc::Transform2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::Transform2d& value);
   static void ForEachNested(
-      std::invocable<std::string_view, std::string_view> auto fn);
+      std::invocable<std::string_view, std::string_view> auto fn) {
+    wpi::ForEachStructSchema<frc::Translation2d>(fn);
+    wpi::ForEachStructSchema<frc::Rotation2d>(fn);
+  }
 };
 
 static_assert(wpi::HasNestedStruct<frc::Transform2d>);
diff --git a/wpimath/src/main/native/include/frc/geometry/struct/Transform3dStruct.h b/wpimath/src/main/native/include/frc/geometry/struct/Transform3dStruct.h
index 4fb592016c..f4de9cafad 100644
--- a/wpimath/src/main/native/include/frc/geometry/struct/Transform3dStruct.h
+++ b/wpimath/src/main/native/include/frc/geometry/struct/Transform3dStruct.h
@@ -11,17 +11,24 @@
 
 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 constexpr std::string_view GetTypeString() {
+    return "struct:Transform3d";
+  }
+  static constexpr size_t GetSize() {
+    return wpi::GetStructSize<frc::Translation3d>() +
+           wpi::GetStructSize<frc::Rotation3d>();
+  }
+  static constexpr std::string_view GetSchema() {
+    return "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 frc::Transform3d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::Transform3d& value);
   static void ForEachNested(
-      std::invocable<std::string_view, std::string_view> auto fn);
+      std::invocable<std::string_view, std::string_view> auto fn) {
+    wpi::ForEachStructSchema<frc::Translation3d>(fn);
+    wpi::ForEachStructSchema<frc::Rotation3d>(fn);
+  }
 };
 
 static_assert(wpi::HasNestedStruct<frc::Transform3d>);
diff --git a/wpimath/src/main/native/include/frc/geometry/struct/Translation2dStruct.h b/wpimath/src/main/native/include/frc/geometry/struct/Translation2dStruct.h
index 1f6ea39772..a1c77e9003 100644
--- a/wpimath/src/main/native/include/frc/geometry/struct/Translation2dStruct.h
+++ b/wpimath/src/main/native/include/frc/geometry/struct/Translation2dStruct.h
@@ -11,11 +11,12 @@
 
 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 constexpr std::string_view GetTypeString() {
+    return "struct:Translation2d";
+  }
+  static constexpr size_t GetSize() { return 16; }
+  static constexpr std::string_view GetSchema() { return "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);
+  static frc::Translation2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::Translation2d& value);
 };
diff --git a/wpimath/src/main/native/include/frc/geometry/struct/Translation3dStruct.h b/wpimath/src/main/native/include/frc/geometry/struct/Translation3dStruct.h
index 34604c6e1f..255e9ac900 100644
--- a/wpimath/src/main/native/include/frc/geometry/struct/Translation3dStruct.h
+++ b/wpimath/src/main/native/include/frc/geometry/struct/Translation3dStruct.h
@@ -11,11 +11,14 @@
 
 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 constexpr std::string_view GetTypeString() {
+    return "struct:Translation3d";
+  }
+  static constexpr size_t GetSize() { return 24; }
+  static constexpr std::string_view GetSchema() {
+    return "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);
+  static frc::Translation3d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::Translation3d& value);
 };
diff --git a/wpimath/src/main/native/include/frc/geometry/struct/Twist2dStruct.h b/wpimath/src/main/native/include/frc/geometry/struct/Twist2dStruct.h
index bda746c6da..adff1294b2 100644
--- a/wpimath/src/main/native/include/frc/geometry/struct/Twist2dStruct.h
+++ b/wpimath/src/main/native/include/frc/geometry/struct/Twist2dStruct.h
@@ -11,11 +11,12 @@
 
 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 constexpr std::string_view GetTypeString() { return "struct:Twist2d"; }
+  static constexpr size_t GetSize() { return 24; }
+  static constexpr std::string_view GetSchema() {
+    return "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);
+  static frc::Twist2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::Twist2d& value);
 };
diff --git a/wpimath/src/main/native/include/frc/geometry/struct/Twist3dStruct.h b/wpimath/src/main/native/include/frc/geometry/struct/Twist3dStruct.h
index 7cbe8a5d20..64ca8abd3d 100644
--- a/wpimath/src/main/native/include/frc/geometry/struct/Twist3dStruct.h
+++ b/wpimath/src/main/native/include/frc/geometry/struct/Twist3dStruct.h
@@ -11,11 +11,12 @@
 
 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 constexpr std::string_view GetTypeString() { return "struct: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";
+  }
 
-  static frc::Twist3d Unpack(std::span<const uint8_t, kSize> data);
-  static void Pack(std::span<uint8_t, kSize> data, const frc::Twist3d& value);
+  static frc::Twist3d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::Twist3d& value);
 };
diff --git a/wpimath/src/main/native/include/frc/kinematics/struct/ChassisSpeedsStruct.h b/wpimath/src/main/native/include/frc/kinematics/struct/ChassisSpeedsStruct.h
index 4e6547bd26..e8b6395910 100644
--- a/wpimath/src/main/native/include/frc/kinematics/struct/ChassisSpeedsStruct.h
+++ b/wpimath/src/main/native/include/frc/kinematics/struct/ChassisSpeedsStruct.h
@@ -11,12 +11,14 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::ChassisSpeeds> {
-  static constexpr std::string_view kTypeString = "struct:ChassisSpeeds";
-  static constexpr size_t kSize = 24;
-  static constexpr std::string_view kSchema =
-      "double vx;double vy;double omega";
+  static constexpr std::string_view GetTypeString() {
+    return "struct:ChassisSpeeds";
+  }
+  static constexpr size_t GetSize() { return 24; }
+  static constexpr std::string_view GetSchema() {
+    return "double vx;double vy;double omega";
+  }
 
-  static frc::ChassisSpeeds Unpack(std::span<const uint8_t, kSize> data);
-  static void Pack(std::span<uint8_t, kSize> data,
-                   const frc::ChassisSpeeds& value);
+  static frc::ChassisSpeeds Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const frc::ChassisSpeeds& value);
 };
diff --git a/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h b/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h
index ab1e2a8964..79b44f65fb 100644
--- a/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h
+++ b/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h
@@ -11,13 +11,13 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveKinematics> {
-  static constexpr std::string_view kTypeString =
-      "struct:DifferentialDriveKinematics";
-  static constexpr size_t kSize = 8;
-  static constexpr std::string_view kSchema = "double track_width";
+  static constexpr std::string_view GetTypeString() {
+    return "struct:DifferentialDriveKinematics";
+  }
+  static constexpr size_t GetSize() { return 8; }
+  static constexpr std::string_view GetSchema() { return "double track_width"; }
 
-  static frc::DifferentialDriveKinematics Unpack(
-      std::span<const uint8_t, kSize> data);
-  static void Pack(std::span<uint8_t, kSize> data,
+  static frc::DifferentialDriveKinematics Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data,
                    const frc::DifferentialDriveKinematics& value);
 };
diff --git a/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h b/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h
index 3810160385..0680020604 100644
--- a/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h
+++ b/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h
@@ -11,13 +11,16 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelSpeeds> {
-  static constexpr std::string_view kTypeString =
-      "struct:DifferentialDriveWheelSpeeds";
-  static constexpr size_t kSize = 16;
-  static constexpr std::string_view kSchema = "double left;double right";
+  static constexpr std::string_view GetTypeString() {
+    return "struct:DifferentialDriveWheelSpeeds";
+  }
+  static constexpr size_t GetSize() { return 16; }
+  static constexpr std::string_view GetSchema() {
+    return "double left;double right";
+  }
 
   static frc::DifferentialDriveWheelSpeeds 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::DifferentialDriveWheelSpeeds& value);
 };
diff --git a/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveKinematicsStruct.h b/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveKinematicsStruct.h
index 2974c6b1d6..4dde54b1a2 100644
--- a/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveKinematicsStruct.h
+++ b/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveKinematicsStruct.h
@@ -11,19 +11,24 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveKinematics> {
-  static constexpr std::string_view kTypeString =
-      "struct:MecanumDriveKinematics";
-  static constexpr size_t kSize = 4 * wpi::Struct<frc::Translation2d>::kSize;
-  static constexpr std::string_view kSchema =
-      "Translation2d front_left;Translation2d front_right;Translation2d "
-      "rear_left;Translation2d rear_right";
+  static constexpr std::string_view GetTypeString() {
+    return "struct:MecanumDriveKinematics";
+  }
+  static constexpr size_t GetSize() {
+    return 4 * wpi::GetStructSize<frc::Translation2d>();
+  }
+  static constexpr std::string_view GetSchema() {
+    return "Translation2d front_left;Translation2d front_right;Translation2d "
+           "rear_left;Translation2d rear_right";
+  }
 
-  static frc::MecanumDriveKinematics Unpack(
-      std::span<const uint8_t, kSize> data);
-  static void Pack(std::span<uint8_t, kSize> data,
+  static frc::MecanumDriveKinematics Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data,
                    const frc::MecanumDriveKinematics& value);
   static void ForEachNested(
-      std::invocable<std::string_view, std::string_view> auto fn);
+      std::invocable<std::string_view, std::string_view> auto fn) {
+    wpi::ForEachStructSchema<frc::Translation2d>(fn);
+  }
 };
 
 static_assert(wpi::HasNestedStruct<frc::MecanumDriveKinematics>);
diff --git a/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h b/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h
index 8fbc3cb316..f14c3749b8 100644
--- a/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h
+++ b/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h
@@ -11,14 +11,16 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelPositions> {
-  static constexpr std::string_view kTypeString =
-      "struct:MecanumDriveWheelPositions";
-  static constexpr size_t kSize = 32;
-  static constexpr std::string_view kSchema =
-      "double front_left;double front_right;double rear_left;double rear_right";
+  static constexpr std::string_view GetTypeString() {
+    return "struct:MecanumDriveWheelPositions";
+  }
+  static constexpr size_t GetSize() { return 32; }
+  static constexpr std::string_view GetSchema() {
+    return "double front_left;double front_right;double rear_left;double "
+           "rear_right";
+  }
 
-  static frc::MecanumDriveWheelPositions Unpack(
-      std::span<const uint8_t, kSize> data);
-  static void Pack(std::span<uint8_t, kSize> data,
+  static frc::MecanumDriveWheelPositions Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data,
                    const frc::MecanumDriveWheelPositions& value);
 };
diff --git a/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h b/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h
index f4cfa0987e..b0b0608c19 100644
--- a/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h
+++ b/wpimath/src/main/native/include/frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h
@@ -11,14 +11,16 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelSpeeds> {
-  static constexpr std::string_view kTypeString =
-      "struct:MecanumDriveWheelSpeeds";
-  static constexpr size_t kSize = 32;
-  static constexpr std::string_view kSchema =
-      "double front_left;double front_right;double rear_left;double rear_right";
+  static constexpr std::string_view GetTypeString() {
+    return "struct:MecanumDriveWheelSpeeds";
+  }
+  static constexpr size_t GetSize() { return 32; }
+  static constexpr std::string_view GetSchema() {
+    return "double front_left;double front_right;double rear_left;"
+           "double rear_right";
+  }
 
-  static frc::MecanumDriveWheelSpeeds Unpack(
-      std::span<const uint8_t, kSize> data);
-  static void Pack(std::span<uint8_t, kSize> data,
+  static frc::MecanumDriveWheelSpeeds Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data,
                    const frc::MecanumDriveWheelSpeeds& value);
 };
diff --git a/wpimath/src/main/native/include/frc/kinematics/struct/SwerveModulePositionStruct.h b/wpimath/src/main/native/include/frc/kinematics/struct/SwerveModulePositionStruct.h
index 20b1ff60cc..ac0f852bf9 100644
--- a/wpimath/src/main/native/include/frc/kinematics/struct/SwerveModulePositionStruct.h
+++ b/wpimath/src/main/native/include/frc/kinematics/struct/SwerveModulePositionStruct.h
@@ -11,16 +11,23 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModulePosition> {
-  static constexpr std::string_view kTypeString = "struct:SwerveModulePosition";
-  static constexpr size_t kSize = 8 + wpi::Struct<frc::Rotation2d>::kSize;
-  static constexpr std::string_view kSchema =
-      "double distance;Rotation2d angle";
+  static constexpr std::string_view GetTypeString() {
+    return "struct:SwerveModulePosition";
+  }
+  static constexpr size_t GetSize() {
+    return 8 + wpi::GetStructSize<frc::Rotation2d>();
+  }
+  static constexpr std::string_view GetSchema() {
+    return "double distance;Rotation2d angle";
+  }
 
-  static frc::SwerveModulePosition Unpack(std::span<const uint8_t, kSize> data);
-  static void Pack(std::span<uint8_t, kSize> data,
+  static frc::SwerveModulePosition Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data,
                    const frc::SwerveModulePosition& value);
   static void ForEachNested(
-      std::invocable<std::string_view, std::string_view> auto fn);
+      std::invocable<std::string_view, std::string_view> auto fn) {
+    wpi::ForEachStructSchema<frc::Rotation2d>(fn);
+  }
 };
 
 static_assert(wpi::HasNestedStruct<frc::SwerveModulePosition>);
diff --git a/wpimath/src/main/native/include/frc/kinematics/struct/SwerveModuleStateStruct.h b/wpimath/src/main/native/include/frc/kinematics/struct/SwerveModuleStateStruct.h
index fd854cb54d..589eb2a60d 100644
--- a/wpimath/src/main/native/include/frc/kinematics/struct/SwerveModuleStateStruct.h
+++ b/wpimath/src/main/native/include/frc/kinematics/struct/SwerveModuleStateStruct.h
@@ -11,15 +11,23 @@
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModuleState> {
-  static constexpr std::string_view kTypeString = "struct:SwerveModuleState";
-  static constexpr size_t kSize = 8 + wpi::Struct<frc::Rotation2d>::kSize;
-  static constexpr std::string_view kSchema = "double speed;Rotation2d angle";
+  static constexpr std::string_view GetTypeString() {
+    return "struct:SwerveModuleState";
+  }
+  static constexpr size_t GetSize() {
+    return 8 + wpi::GetStructSize<frc::Rotation2d>();
+  }
+  static constexpr std::string_view GetSchema() {
+    return "double speed;Rotation2d angle";
+  }
 
-  static frc::SwerveModuleState Unpack(std::span<const uint8_t, kSize> data);
-  static void Pack(std::span<uint8_t, kSize> data,
+  static frc::SwerveModuleState Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data,
                    const frc::SwerveModuleState& value);
   static void ForEachNested(
-      std::invocable<std::string_view, std::string_view> auto fn);
+      std::invocable<std::string_view, std::string_view> auto fn) {
+    wpi::ForEachStructSchema<frc::Rotation2d>(fn);
+  }
 };
 
 static_assert(wpi::HasNestedStruct<frc::SwerveModuleState>);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp
index 369a6aae07..f8763a6cea 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp
@@ -16,8 +16,8 @@ const Pose2d kExpectedData{
 }  // namespace
 
 TEST(Pose2dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Pose2d unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp
index 5eb1bc2d4e..19a503a8de 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp
@@ -17,8 +17,8 @@ const Pose3d kExpectedData{
 }  // namespace
 
 TEST(Pose3dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Pose3d unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp
index 6eede3c6a6..d21eaf15f5 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp
@@ -15,8 +15,8 @@ const Quaternion kExpectedData{Quaternion{1.1, 0.191, 35.04, 19.1}};
 }  // namespace
 
 TEST(QuaternionStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Quaternion unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp
index 9007463209..b215c9ef4f 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp
@@ -15,8 +15,8 @@ const Rotation2d kExpectedData{Rotation2d{1.91_rad}};
 }  // namespace
 
 TEST(Rotation2dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Rotation2d unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp
index 992eb45e6c..9d7dd6c97d 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp
@@ -16,8 +16,8 @@ const Rotation3d kExpectedData{
 }  // namespace
 
 TEST(Rotation3dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Rotation3d unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp
index b28aeaabf6..e3841e243e 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp
@@ -16,8 +16,8 @@ const Transform2d kExpectedData{
 }  // namespace
 
 TEST(Transform2dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Transform2d unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp
index d32433183b..a98fd7961c 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp
@@ -17,8 +17,8 @@ const Transform3d kExpectedData{
 }  // namespace
 
 TEST(Transform3dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Transform3d unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp
index 6f87420cde..bc081dc26e 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp
@@ -15,8 +15,8 @@ const Translation2d kExpectedData{Translation2d{3.504_m, 22.9_m}};
 }  // namespace
 
 TEST(Translation2dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Translation2d unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp
index 1caa8a327f..41a58ed659 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp
@@ -15,8 +15,8 @@ const Translation3d kExpectedData{Translation3d{35.04_m, 22.9_m, 3.504_m}};
 }  // namespace
 
 TEST(Translation3dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Translation3d unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp
index a3d1370d4b..7bdc8b03f8 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp
@@ -15,8 +15,8 @@ const Twist2d kExpectedData{Twist2d{2.29_m, 35.04_m, 35.04_rad}};
 }  // namespace
 
 TEST(Twist2dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Twist2d unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp
index b753a3b263..eb72b54550 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp
@@ -16,8 +16,8 @@ const Twist3d kExpectedData{
 }  // namespace
 
 TEST(Twist3dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Twist3d unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp
index 6729aa0b9d..79f2a35c90 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp
@@ -16,8 +16,8 @@ const ChassisSpeeds kExpectedData{
 }  // namespace
 
 TEST(ChassisSpeedsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   ChassisSpeeds unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
index ecf10ad5f7..80b4ad565c 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
@@ -16,8 +16,8 @@ const DifferentialDriveKinematics kExpectedData{
 }  // namespace
 
 TEST(DifferentialDriveKinematicsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   DifferentialDriveKinematics unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp
index 33499f5d4e..8635197c76 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp
@@ -16,8 +16,8 @@ const DifferentialDriveWheelSpeeds kExpectedData{
 }  // namespace
 
 TEST(DifferentialDriveWheelSpeedsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   DifferentialDriveWheelSpeeds unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp
index 8fe0817e27..0b3676d63f 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp
@@ -17,8 +17,8 @@ const MecanumDriveKinematics kExpectedData{MecanumDriveKinematics{
 }  // namespace
 
 TEST(MecanumDriveKinematicsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   MecanumDriveKinematics unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp
index 39190a776f..085f69b052 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp
@@ -16,8 +16,8 @@ const MecanumDriveWheelPositions kExpectedData{
 }  // namespace
 
 TEST(MecanumDriveWheelPositionsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   MecanumDriveWheelPositions unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp
index bbde80cdde..83a234961d 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp
@@ -16,8 +16,8 @@ const MecanumDriveWheelSpeeds kExpectedData{
 }  // namespace
 
 TEST(MecanumDriveWheelSpeedsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   MecanumDriveWheelSpeeds unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp
index a942efe662..2f92bf7449 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp
@@ -16,8 +16,8 @@ const SwerveModulePosition kExpectedData{
 }  // namespace
 
 TEST(SwerveModulePositionStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   SwerveModulePosition unpacked_data = StructType::Unpack(buffer);
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp
index 40ca305b8e..5edc99c450 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp
@@ -16,8 +16,8 @@ const SwerveModuleState kExpectedData{
 }  // namespace
 
 TEST(SwerveModuleStateStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   SwerveModuleState unpacked_data = StructType::Unpack(buffer);
diff --git a/wpiutil/src/main/native/include/wpi/DataLog.h b/wpiutil/src/main/native/include/wpi/DataLog.h
index 99db964628..c78deafce1 100644
--- a/wpiutil/src/main/native/include/wpi/DataLog.h
+++ b/wpiutil/src/main/native/include/wpi/DataLog.h
@@ -968,9 +968,16 @@ class StructLogEntry : public DataLogEntry {
    * @param timestamp Time stamp (may be 0 to indicate now)
    */
   void Append(const T& data, int64_t timestamp = 0) {
-    uint8_t buf[S::kSize];
-    S::Pack(buf, data);
-    m_log->AppendRaw(m_entry, buf, timestamp);
+    if constexpr (wpi::is_constexpr([] { S::GetSize(); })) {
+      uint8_t buf[S::GetSize()];
+      S::Pack(buf, data);
+      m_log->AppendRaw(m_entry, buf, timestamp);
+    } else {
+      wpi::SmallVector<uint8_t, 128> buf;
+      buf.resize_for_overwrite(S::GetSize());
+      S::Pack(buf, data);
+      m_log->AppendRaw(m_entry, buf, timestamp);
+    }
   }
 };
 
diff --git a/wpiutil/src/main/native/include/wpi/struct/Struct.h b/wpiutil/src/main/native/include/wpi/struct/Struct.h
index 1336707973..530607acda 100644
--- a/wpiutil/src/main/native/include/wpi/struct/Struct.h
+++ b/wpiutil/src/main/native/include/wpi/struct/Struct.h
@@ -7,6 +7,7 @@
 #include <stdint.h>
 
 #include <concepts>
+#include <memory>
 #include <span>
 #include <string>
 #include <string_view>
@@ -14,12 +15,14 @@
 #include <utility>
 #include <vector>
 
+#include <fmt/format.h>
+
 #include "wpi/Endian.h"
-#include "wpi/MathExtras.h"
 #include "wpi/bit.h"
 #include "wpi/ct_string.h"
 #include "wpi/function_ref.h"
 #include "wpi/mutex.h"
+#include "wpi/type_traits.h"
 
 namespace wpi {
 
@@ -45,37 +48,39 @@ 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 kTypeString: the type string
- * - size_t kSize: the structure size in bytes
- * - std::string_view kSchema: the struct schema
+ * - std::string_view GetTypeString(): function that returns the type string
+ * - 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, kSize>): function for deserialization
  * - void Pack(std::span<uint8_t, kSize>, T&& value): function for
  *   serialization
  *
+ * If possible, the GetTypeString(), GetSize(), and GetSchema() functions should
+ * be marked constexpr. GetTypeString() and GetSchema() may return types other
+ * than std::string_view, as long as the return value is convertible to
+ * std::string_view.
+ *
  * If the struct has nested structs, implementations should also meet the
  * requirements of HasNestedStruct<T>.
  */
 template <typename T>
-concept StructSerializable =
-    requires(std::span<const uint8_t> in, std::span<uint8_t> out, T&& value) {
-      typename Struct<typename std::remove_cvref_t<T>>;
-      {
-        Struct<typename std::remove_cvref_t<T>>::kTypeString
-      } -> std::convertible_to<std::string_view>;
-      {
-        Struct<typename std::remove_cvref_t<T>>::kSize
-      } -> std::convertible_to<size_t>;
-      {
-        Struct<typename std::remove_cvref_t<T>>::kSchema
-      } -> std::convertible_to<std::string_view>;
-      {
-        Struct<typename std::remove_cvref_t<T>>::Unpack(
-            in.subspan<0, Struct<typename std::remove_cvref_t<T>>::kSize>())
-      } -> std::same_as<typename std::remove_cvref_t<T>>;
-      Struct<typename std::remove_cvref_t<T>>::Pack(
-          out.subspan<0, Struct<typename std::remove_cvref_t<T>>::kSize>(),
-          std::forward<T>(value));
-    };
+concept StructSerializable = requires(std::span<const uint8_t> in,
+                                      std::span<uint8_t> out, T&& value) {
+  typename Struct<typename std::remove_cvref_t<T>>;
+  {
+    Struct<typename std::remove_cvref_t<T>>::GetTypeString()
+  } -> std::convertible_to<std::string_view>;
+  {
+    Struct<typename std::remove_cvref_t<T>>::GetSize()
+  } -> std::convertible_to<size_t>;
+  {
+    Struct<typename std::remove_cvref_t<T>>::GetSchema()
+  } -> std::convertible_to<std::string_view>;
+  {
+    Struct<typename std::remove_cvref_t<T>>::Unpack(in)
+  } -> std::same_as<typename std::remove_cvref_t<T>>;
+  Struct<typename std::remove_cvref_t<T>>::Pack(out, std::forward<T>(value));
+};
 
 /**
  * Specifies that a type is capable of in-place raw struct deserialization.
@@ -87,8 +92,7 @@ concept StructSerializable =
 template <typename T>
 concept MutableStructSerializable =
     StructSerializable<T> && requires(T* out, std::span<const uint8_t> in) {
-      Struct<typename std::remove_cvref_t<T>>::UnpackInto(
-          out, in.subspan<0, Struct<typename std::remove_cvref_t<T>>::kSize>());
+      Struct<typename std::remove_cvref_t<T>>::UnpackInto(out, in);
     };
 
 /**
@@ -115,7 +119,7 @@ concept HasNestedStruct =
  * @return Deserialized object
  */
 template <StructSerializable T>
-inline T UnpackStruct(std::span<const uint8_t, Struct<T>::kSize> data) {
+inline T UnpackStruct(std::span<const uint8_t> data) {
   return Struct<T>::Unpack(data);
 }
 
@@ -130,7 +134,7 @@ inline T UnpackStruct(std::span<const uint8_t, Struct<T>::kSize> data) {
  */
 template <StructSerializable T, size_t Offset>
 inline T UnpackStruct(std::span<const uint8_t> data) {
-  return Struct<T>::Unpack(data.template subspan<Offset, Struct<T>::kSize>());
+  return Struct<T>::Unpack(data.subspan(Offset));
 }
 
 /**
@@ -140,9 +144,7 @@ inline T UnpackStruct(std::span<const uint8_t> data) {
  * @param value object
  */
 template <StructSerializable T>
-inline void PackStruct(
-    std::span<uint8_t, Struct<typename std::remove_cvref_t<T>>::kSize> data,
-    T&& value) {
+inline void PackStruct(std::span<uint8_t> data, T&& value) {
   Struct<typename std::remove_cvref_t<T>>::Pack(data, std::forward<T>(value));
 }
 
@@ -156,10 +158,8 @@ inline void PackStruct(
  */
 template <size_t Offset, StructSerializable T>
 inline void PackStruct(std::span<uint8_t> data, T&& value) {
-  Struct<typename std::remove_cvref_t<T>>::Pack(
-      data.template subspan<Offset,
-                            Struct<typename std::remove_cvref_t<T>>::kSize>(),
-      std::forward<T>(value));
+  Struct<typename std::remove_cvref_t<T>>::Pack(data.subspan(Offset),
+                                                std::forward<T>(value));
 }
 
 /**
@@ -169,8 +169,7 @@ inline void PackStruct(std::span<uint8_t> data, T&& value) {
  * @param data raw struct data
  */
 template <StructSerializable T>
-inline void UnpackStructInto(T* out,
-                             std::span<const uint8_t, Struct<T>::kSize> data) {
+inline void UnpackStructInto(T* out, std::span<const uint8_t> data) {
   if constexpr (MutableStructSerializable<T>) {
     Struct<T>::UnpackInto(out, data);
   } else {
@@ -190,8 +189,7 @@ inline void UnpackStructInto(T* out,
 template <size_t Offset, StructSerializable T>
 inline void UnpackStructInto(T* out, std::span<const uint8_t> data) {
   if constexpr (MutableStructSerializable<T>) {
-    Struct<T>::UnpackInto(out,
-                          data.template subspan<Offset, Struct<T>::kSize>());
+    Struct<T>::UnpackInto(out, data.subspan(Offset));
   } else {
     *out = UnpackStruct<T, Offset>(data);
   }
@@ -205,59 +203,86 @@ inline void UnpackStructInto(T* out, std::span<const uint8_t> data) {
  */
 template <StructSerializable T>
 constexpr auto GetStructTypeString() {
-  return Struct<T>::kTypeString;
+  return Struct<T>::GetTypeString();
+}
+
+/**
+ * Get the size for a raw struct serializable type
+ *
+ * @tparam T serializable type
+ * @return size
+ */
+template <StructSerializable T>
+constexpr size_t GetStructSize() {
+  return Struct<T>::GetSize();
 }
 
 template <StructSerializable T, size_t N>
-consteval auto MakeStructArrayTypeString() {
-  using namespace literals;
-  if constexpr (N == std::dynamic_extent) {
-    return Concat(
-        ct_string<char, std::char_traits<char>, Struct<T>::kTypeString.size()>{
-            Struct<T>::kTypeString},
-        "[]"_ct_string);
+constexpr auto MakeStructArrayTypeString() {
+  if constexpr (is_constexpr([] { Struct<T>::GetTypeString(); })) {
+    constexpr auto typeString = Struct<T>::GetTypeString();
+    using namespace literals;
+    if constexpr (N == std::dynamic_extent) {
+      return Concat(
+          ct_string<char, std::char_traits<char>, typeString.size()>{
+              typeString},
+          "[]"_ct_string);
+    } else {
+      return Concat(
+          ct_string<char, std::char_traits<char>, typeString.size()>{
+              typeString},
+          "["_ct_string, NumToCtString<N>(), "]"_ct_string);
+    }
   } else {
-    return Concat(
-        ct_string<char, std::char_traits<char>, Struct<T>::kTypeString.size()>{
-            Struct<T>::kTypeString},
-        "["_ct_string, NumToCtString<N>(), "]"_ct_string);
+    if constexpr (N == std::dynamic_extent) {
+      return fmt::format("{}[]", Struct<T>::GetTypeString());
+    } else {
+      return fmt::format("{}[{}]", Struct<T>::GetTypeString(), N);
+    }
   }
 }
 
 template <StructSerializable T, size_t N>
 consteval auto MakeStructArraySchema() {
-  using namespace literals;
-  if constexpr (N == std::dynamic_extent) {
-    return Concat(
-        ct_string<char, std::char_traits<char>, Struct<T>::kSchema.size()>{
-            Struct<T>::kSchema},
-        "[]"_ct_string);
+  if constexpr (is_constexpr([] { Struct<T>::GetSchema(); })) {
+    constexpr auto schema = Struct<T>::GetSchema();
+    using namespace literals;
+    if constexpr (N == std::dynamic_extent) {
+      return Concat(
+          ct_string<char, std::char_traits<char>, schema.size()>{schema},
+          "[]"_ct_string);
+    } else {
+      return Concat(
+          ct_string<char, std::char_traits<char>, schema.size()>{schema},
+          "["_ct_string, NumToCtString<N>(), "]"_ct_string);
+    }
   } else {
-    return Concat(
-        ct_string<char, std::char_traits<char>, Struct<T>::kSchema.size()>{
-            Struct<T>::kSchema},
-        "["_ct_string, NumToCtString<N>(), "]"_ct_string);
+    if constexpr (N == std::dynamic_extent) {
+      return fmt::format("{}[]", Struct<T>::GetSchema());
+    } else {
+      return fmt::format("{}[{}]", Struct<T>::GetSchema(), N);
+    }
   }
 }
 
 template <StructSerializable T>
 constexpr std::string_view GetStructSchema() {
-  return Struct<T>::kSchema;
+  return Struct<T>::GetSchema();
 }
 
 template <StructSerializable T>
 constexpr std::span<const uint8_t> GetStructSchemaBytes() {
-  return {reinterpret_cast<const uint8_t*>(Struct<T>::kSchema.data()),
-          Struct<T>::kSchema.size()};
+  auto schema = Struct<T>::GetSchema();
+  return {reinterpret_cast<const uint8_t*>(schema.data()), schema.size()};
 }
 
 template <StructSerializable T>
 void ForEachStructSchema(
     std::invocable<std::string_view, std::string_view> auto fn) {
   if constexpr (HasNestedStruct<T>) {
-    Struct<T>::ForEachNested(fn);
+    Struct<typename std::remove_cvref_t<T>>::ForEachNested(fn);
   }
-  fn(Struct<T>::kTypeString, Struct<T>::kSchema);
+  fn(Struct<T>::GetTypeString(), Struct<T>::GetSchema());
 }
 
 template <StructSerializable T>
@@ -282,24 +307,25 @@ class StructArrayBuffer {
 #endif
       std::invocable<F, std::span<const uint8_t>>
     void Write(U&& data, F&& func) {
-    if ((std::size(data) * S::kSize) < 256) {
+    auto size = S::GetSize();
+    if ((std::size(data) * size) < 256) {
       // use the stack
       uint8_t buf[256];
       auto out = buf;
       for (auto&& val : data) {
-        S::Pack(std::span<uint8_t, S::kSize>{out, out + S::kSize},
+        S::Pack(std::span<uint8_t>{std::to_address(out), size},
                 std::forward<decltype(val)>(val));
-        out += S::kSize;
+        out += size;
       }
       func(std::span<uint8_t>{buf, out});
     } else {
       std::scoped_lock lock{m_mutex};
-      m_buf.resize(std::size(data) * S::kSize);
+      m_buf.resize(std::size(data) * size);
       auto out = m_buf.begin();
       for (auto&& val : data) {
-        S::Pack(std::span<uint8_t, S::kSize>{out, out + S::kSize},
+        S::Pack(std::span<uint8_t>{std::to_address(out), size},
                 std::forward<decltype(val)>(val));
-        out += S::kSize;
+        out += size;
       }
       func(m_buf);
     }
@@ -315,36 +341,38 @@ class StructArrayBuffer {
  */
 template <StructSerializable T, size_t N>
 struct Struct<std::array<T, N>> {
-  static constexpr auto kTypeString = MakeStructArrayTypeString<T, N>();
-  static constexpr size_t kSize = N * Struct<T>::kSize;
-  static constexpr auto kSchema = MakeStructArraySchema<T, N>();
-  static std::array<T, N> Unpack(std::span<const uint8_t, kSize> data) {
+  static constexpr auto GetTypeString() {
+    return MakeStructArrayTypeString<T, N>();
+  }
+  static constexpr size_t GetSize() { return N * GetStructSize<T>(); }
+  static constexpr auto GetSchema() { return MakeStructArraySchema<T, N>(); }
+  static std::array<T, N> Unpack(std::span<const uint8_t> data) {
+    auto size = GetStructSize<T>();
     std::array<T, N> result;
     for (size_t i = 0; i < N; ++i) {
       result[i] = UnpackStruct<T, 0>(data);
-      data = data.subspan(Struct<T>::kSize);
+      data = data.subspan(size);
     }
     return result;
   }
-  static void Pack(std::span<uint8_t, kSize> data,
-                   std::span<const T, N> values) {
+  static void Pack(std::span<uint8_t> data, std::span<const T, N> values) {
+    auto size = GetStructSize<T>();
     std::span<uint8_t> unsizedData = data;
     for (auto&& val : values) {
-      PackStruct<0>(unsizedData, val);
-      unsizedData = unsizedData.subspan(Struct<T>::kSize);
+      PackStruct(unsizedData, val);
+      unsizedData = unsizedData.subspan(size);
     }
   }
-  static void UnpackInto(std::array<T, N>* out,
-                         std::span<const uint8_t, kSize> data) {
+  static void UnpackInto(std::array<T, N>* out, std::span<const uint8_t> data) {
     UnpackInto(std::span{*out}, data);
   }
   // alternate span-based function
-  static void UnpackInto(std::span<T, N> out,
-                         std::span<const uint8_t, kSize> data) {
+  static void UnpackInto(std::span<T, N> out, std::span<const uint8_t> data) {
+    auto size = GetStructSize<T>();
     std::span<const uint8_t> unsizedData = data;
     for (size_t i = 0; i < N; ++i) {
-      UnpackStructInto<0, T>(&out[i], unsizedData);
-      unsizedData = unsizedData.subspan(Struct<T>::kSize);
+      UnpackStructInto(&out[i], unsizedData);
+      unsizedData = unsizedData.subspan(size);
     }
   }
 };
@@ -355,11 +383,11 @@ struct Struct<std::array<T, N>> {
  */
 template <>
 struct Struct<bool> {
-  static constexpr std::string_view kTypeString = "struct:bool";
-  static constexpr size_t kSize = 1;
-  static constexpr std::string_view kSchema = "bool value";
-  static bool Unpack(std::span<const uint8_t, 1> data) { return data[0]; }
-  static void Pack(std::span<uint8_t, 1> data, bool value) {
+  static constexpr std::string_view GetTypeString() { return "struct: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]; }
+  static void Pack(std::span<uint8_t> data, bool value) {
     data[0] = static_cast<char>(value ? 1 : 0);
   }
 };
@@ -370,13 +398,11 @@ struct Struct<bool> {
  */
 template <>
 struct Struct<uint8_t> {
-  static constexpr std::string_view kTypeString = "struct:uint8";
-  static constexpr size_t kSize = 1;
-  static constexpr std::string_view kSchema = "uint8 value";
-  static uint8_t Unpack(std::span<const uint8_t, 1> data) { return data[0]; }
-  static void Pack(std::span<uint8_t, 1> data, uint8_t value) {
-    data[0] = value;
-  }
+  static constexpr std::string_view GetTypeString() { return "struct: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]; }
+  static void Pack(std::span<uint8_t> data, uint8_t value) { data[0] = value; }
 };
 
 /**
@@ -400,13 +426,13 @@ struct Struct<int8_t> {
  */
 template <>
 struct Struct<uint16_t> {
-  static constexpr std::string_view kTypeString = "struct:uint16";
-  static constexpr size_t kSize = 2;
-  static constexpr std::string_view kSchema = "uint16 value";
-  static uint16_t Unpack(std::span<const uint8_t, 2> data) {
+  static constexpr std::string_view GetTypeString() { return "struct: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) {
     return support::endian::read16le(data.data());
   }
-  static void Pack(std::span<uint8_t, 2> data, uint16_t value) {
+  static void Pack(std::span<uint8_t> data, uint16_t value) {
     support::endian::write16le(data.data(), value);
   }
 };
@@ -417,13 +443,13 @@ struct Struct<uint16_t> {
  */
 template <>
 struct Struct<int16_t> {
-  static constexpr std::string_view kTypeString = "struct:int16";
-  static constexpr size_t kSize = 2;
-  static constexpr std::string_view kSchema = "int16 value";
-  static int16_t Unpack(std::span<const uint8_t, 2> data) {
+  static constexpr std::string_view GetTypeString() { return "struct: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) {
     return support::endian::read16le(data.data());
   }
-  static void Pack(std::span<uint8_t, 2> data, int16_t value) {
+  static void Pack(std::span<uint8_t> data, int16_t value) {
     support::endian::write16le(data.data(), value);
   }
 };
@@ -434,13 +460,13 @@ struct Struct<int16_t> {
  */
 template <>
 struct Struct<uint32_t> {
-  static constexpr std::string_view kTypeString = "struct:uint32";
-  static constexpr size_t kSize = 4;
-  static constexpr std::string_view kSchema = "uint32 value";
-  static uint32_t Unpack(std::span<const uint8_t, 4> data) {
+  static constexpr std::string_view GetTypeString() { return "struct: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) {
     return support::endian::read32le(data.data());
   }
-  static void Pack(std::span<uint8_t, 4> data, uint32_t value) {
+  static void Pack(std::span<uint8_t> data, uint32_t value) {
     support::endian::write32le(data.data(), value);
   }
 };
@@ -451,13 +477,13 @@ struct Struct<uint32_t> {
  */
 template <>
 struct Struct<int32_t> {
-  static constexpr std::string_view kTypeString = "struct:int32";
-  static constexpr size_t kSize = 4;
-  static constexpr std::string_view kSchema = "int32 value";
-  static int32_t Unpack(std::span<const uint8_t, 4> data) {
+  static constexpr std::string_view GetTypeString() { return "struct: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) {
     return support::endian::read32le(data.data());
   }
-  static void Pack(std::span<uint8_t, 4> data, int32_t value) {
+  static void Pack(std::span<uint8_t> data, int32_t value) {
     support::endian::write32le(data.data(), value);
   }
 };
@@ -468,13 +494,13 @@ struct Struct<int32_t> {
  */
 template <>
 struct Struct<uint64_t> {
-  static constexpr std::string_view kTypeString = "struct:uint64";
-  static constexpr size_t kSize = 8;
-  static constexpr std::string_view kSchema = "uint64 value";
-  static uint64_t Unpack(std::span<const uint8_t, 8> data) {
+  static constexpr std::string_view GetTypeString() { return "struct: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) {
     return support::endian::read64le(data.data());
   }
-  static void Pack(std::span<uint8_t, 8> data, uint64_t value) {
+  static void Pack(std::span<uint8_t> data, uint64_t value) {
     support::endian::write64le(data.data(), value);
   }
 };
@@ -485,13 +511,13 @@ struct Struct<uint64_t> {
  */
 template <>
 struct Struct<int64_t> {
-  static constexpr std::string_view kTypeString = "struct:int64";
-  static constexpr size_t kSize = 8;
-  static constexpr std::string_view kSchema = "int64 value";
-  static int64_t Unpack(std::span<const uint8_t, 8> data) {
+  static constexpr std::string_view GetTypeString() { return "struct: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) {
     return support::endian::read64le(data.data());
   }
-  static void Pack(std::span<uint8_t, 8> data, int64_t value) {
+  static void Pack(std::span<uint8_t> data, int64_t value) {
     support::endian::write64le(data.data(), value);
   }
 };
@@ -502,13 +528,13 @@ struct Struct<int64_t> {
  */
 template <>
 struct Struct<float> {
-  static constexpr std::string_view kTypeString = "struct:float";
-  static constexpr size_t kSize = 4;
-  static constexpr std::string_view kSchema = "float value";
-  static float Unpack(std::span<const uint8_t, 4> data) {
+  static constexpr std::string_view GetTypeString() { return "struct: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) {
     return bit_cast<float>(support::endian::read32le(data.data()));
   }
-  static void Pack(std::span<uint8_t, 4> data, float value) {
+  static void Pack(std::span<uint8_t> data, float value) {
     support::endian::write32le(data.data(), bit_cast<uint32_t>(value));
   }
 };
@@ -519,13 +545,13 @@ struct Struct<float> {
  */
 template <>
 struct Struct<double> {
-  static constexpr std::string_view kTypeString = "struct:double";
-  static constexpr size_t kSize = 8;
-  static constexpr std::string_view kSchema = "double value";
-  static double Unpack(std::span<const uint8_t, 8> data) {
+  static constexpr std::string_view GetTypeString() { return "struct: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) {
     return bit_cast<double>(support::endian::read64le(data.data()));
   }
-  static void Pack(std::span<uint8_t, 8> data, double value) {
+  static void Pack(std::span<uint8_t> data, double value) {
     support::endian::write64le(data.data(), bit_cast<uint64_t>(value));
   }
 };