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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/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());