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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);
}