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

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.

wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp

@@ -16,8 +16,8 @@ const Pose2d kExpectedData{
 }  // namespace
 
 TEST(Pose2dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Pose2d unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp

@@ -17,8 +17,8 @@ const Pose3d kExpectedData{
 }  // namespace
 
 TEST(Pose3dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Pose3d unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp

@@ -15,8 +15,8 @@ const Quaternion kExpectedData{Quaternion{1.1, 0.191, 35.04, 19.1}};
 }  // namespace
 
 TEST(QuaternionStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Quaternion unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp

@@ -15,8 +15,8 @@ const Rotation2d kExpectedData{Rotation2d{1.91_rad}};
 }  // namespace
 
 TEST(Rotation2dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Rotation2d unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp

@@ -16,8 +16,8 @@ const Rotation3d kExpectedData{
 }  // namespace
 
 TEST(Rotation3dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Rotation3d unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp

@@ -16,8 +16,8 @@ const Transform2d kExpectedData{
 }  // namespace
 
 TEST(Transform2dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Transform2d unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp

@@ -17,8 +17,8 @@ const Transform3d kExpectedData{
 }  // namespace
 
 TEST(Transform3dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Transform3d unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp

@@ -15,8 +15,8 @@ const Translation2d kExpectedData{Translation2d{3.504_m, 22.9_m}};
 }  // namespace
 
 TEST(Translation2dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Translation2d unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp

@@ -15,8 +15,8 @@ const Translation3d kExpectedData{Translation3d{35.04_m, 22.9_m, 3.504_m}};
 }  // namespace
 
 TEST(Translation3dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Translation3d unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp

@@ -15,8 +15,8 @@ const Twist2d kExpectedData{Twist2d{2.29_m, 35.04_m, 35.04_rad}};
 }  // namespace
 
 TEST(Twist2dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Twist2d unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp

@@ -16,8 +16,8 @@ const Twist3d kExpectedData{
 }  // namespace
 
 TEST(Twist3dStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   Twist3d unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp

@@ -16,8 +16,8 @@ const ChassisSpeeds kExpectedData{
 }  // namespace
 
 TEST(ChassisSpeedsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   ChassisSpeeds unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp

@@ -16,8 +16,8 @@ const DifferentialDriveKinematics kExpectedData{
 }  // namespace
 
 TEST(DifferentialDriveKinematicsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   DifferentialDriveKinematics unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp

@@ -16,8 +16,8 @@ const DifferentialDriveWheelSpeeds kExpectedData{
 }  // namespace
 
 TEST(DifferentialDriveWheelSpeedsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   DifferentialDriveWheelSpeeds unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp

@@ -17,8 +17,8 @@ const MecanumDriveKinematics kExpectedData{MecanumDriveKinematics{
 }  // namespace
 
 TEST(MecanumDriveKinematicsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   MecanumDriveKinematics unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp

@@ -16,8 +16,8 @@ const MecanumDriveWheelPositions kExpectedData{
 }  // namespace
 
 TEST(MecanumDriveWheelPositionsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   MecanumDriveWheelPositions unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp

@@ -16,8 +16,8 @@ const MecanumDriveWheelSpeeds kExpectedData{
 }  // namespace
 
 TEST(MecanumDriveWheelSpeedsStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   MecanumDriveWheelSpeeds unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp

@@ -16,8 +16,8 @@ const SwerveModulePosition kExpectedData{
 }  // namespace
 
 TEST(SwerveModulePositionStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   SwerveModulePosition unpacked_data = StructType::Unpack(buffer);

wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp

@@ -16,8 +16,8 @@ const SwerveModuleState kExpectedData{
 }  // namespace
 
 TEST(SwerveModuleStateStructTest, Roundtrip) {
-  uint8_t buffer[StructType::kSize];
-  std::memset(buffer, 0, StructType::kSize);
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
   StructType::Pack(buffer, kExpectedData);
 
   SwerveModuleState unpacked_data = StructType::Unpack(buffer);