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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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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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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);
}