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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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22
wpimath/src/main/native/include/frc/geometry/struct/Pose3dStruct.h
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@@ -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>);