Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-27 02:01:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

22
wpimath/src/main/native/include/frc/geometry/struct/Pose2dStruct.h
View File

@@ -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>);

22
wpimath/src/main/native/include/frc/geometry/struct/Pose3dStruct.h
View File

@@ -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>);

16
wpimath/src/main/native/include/frc/geometry/struct/QuaternionStruct.h
View File

@@ -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);
};

13
wpimath/src/main/native/include/frc/geometry/struct/Rotation2dStruct.h
View File

@@ -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);
};

19
wpimath/src/main/native/include/frc/geometry/struct/Rotation3dStruct.h
View File

@@ -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>);

25
wpimath/src/main/native/include/frc/geometry/struct/Transform2dStruct.h
View File

@@ -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>);

25
wpimath/src/main/native/include/frc/geometry/struct/Transform3dStruct.h
View File

@@ -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>);

13
wpimath/src/main/native/include/frc/geometry/struct/Translation2dStruct.h
View File

@@ -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);
};

15
wpimath/src/main/native/include/frc/geometry/struct/Translation3dStruct.h
View File

@@ -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);
};

13
wpimath/src/main/native/include/frc/geometry/struct/Twist2dStruct.h
View File

@@ -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);
};

13
wpimath/src/main/native/include/frc/geometry/struct/Twist3dStruct.h
View File

@@ -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);
};