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[wpiutil] Change Struct to allow non-constexpr implementation (#5992)

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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.
This commit is contained in:
Peter Johnson
2023-12-02 23:36:44 -08:00
committed by GitHub
parent ca272de400
commit a583ca01e1
62 changed files with 812 additions and 450 deletions
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13
wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp
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@@ -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);
}

13
wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp
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@@ -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);
}

5
wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp
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@@ -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());

5
wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp
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@@ -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());
}

10
wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp
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@@ -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);
}

13
wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp
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@@ -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);
}

13
wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp
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@@ -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);
}

4
wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp
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@@ -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());

4
wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp
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@@ -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());

5
wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp
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@@ -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());

5
wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp
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@@ -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());

4
wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp
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@@ -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());

4
wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
View File

@@ -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());
}

4
wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp
View File

@@ -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());

16
wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp
View File

@@ -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);
}

4
wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp
View File

@@ -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());

5
wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp
View File

@@ -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());

10
wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp
View File

@@ -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);
}

10
wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp
View File

@@ -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);
}