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[wpimath] Merge .inc files into headers (#7209)

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Splitting the files didn't help readability or save compilation time and
it confused contributors. Merging them is also in line with how C++
modules will be written.
This commit is contained in:
Tyler Veness
2024-10-14 16:08:10 -07:00
committed by GitHub
parent bedfc09268
commit ee281ea448
55 changed files with 1646 additions and 2531 deletions
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23
wpimath/src/main/native/include/frc/struct/MatrixStruct.h
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@@ -24,13 +24,28 @@ struct wpi::Struct<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>> {
static constexpr std::string_view GetSchema() { return kSchema; }
static frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> Unpack(
std::span<const uint8_t> data);
std::span<const uint8_t> data) {
constexpr size_t kDataOff = 0;
wpi::array<double, Rows * Cols> mat_data =
wpi::UnpackStructArray<double, kDataOff, Rows * Cols>(data);
frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> mat;
for (int i = 0; i < Rows * Cols; i++) {
mat(i) = mat_data[i];
}
return mat;
}
static void Pack(
std::span<uint8_t> data,
const frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value);
const frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value) {
constexpr size_t kDataOff = 0;
wpi::array<double, Rows * Cols> mat_data(wpi::empty_array);
for (int i = 0; i < Rows * Cols; i++) {
mat_data[i] = value(i);
}
wpi::PackStructArray<kDataOff, Rows * Cols>(data, mat_data);
}
};
static_assert(wpi::StructSerializable<frc::Matrixd<1, 2>>);
static_assert(wpi::StructSerializable<frc::Matrixd<3, 3>>);
#include "frc/struct/MatrixStruct.inc"

35
wpimath/src/main/native/include/frc/struct/MatrixStruct.inc
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@@ -1,35 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include "frc/struct/MatrixStruct.h"
template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
requires(Cols != 1)
frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>
wpi::Struct<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>::Unpack(
std::span<const uint8_t> data) {
constexpr size_t kDataOff = 0;
wpi::array<double, Rows * Cols> mat_data =
wpi::UnpackStructArray<double, kDataOff, Rows * Cols>(data);
frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> mat;
for (int i = 0; i < Rows * Cols; i++) {
mat(i) = mat_data[i];
}
return mat;
}
template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
requires(Cols != 1)
void wpi::Struct<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>::Pack(
std::span<uint8_t> data,
const frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value) {
constexpr size_t kDataOff = 0;
wpi::array<double, Rows * Cols> mat_data(wpi::empty_array);
for (int i = 0; i < Rows * Cols; i++) {
mat_data[i] = value(i);
}
wpi::PackStructArray<kDataOff, Rows * Cols>(data, mat_data);
}

23
wpimath/src/main/native/include/frc/struct/VectorStruct.h
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@@ -21,13 +21,28 @@ struct wpi::Struct<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
static constexpr std::string_view GetSchema() { return kSchema; }
static frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> Unpack(
std::span<const uint8_t> data);
std::span<const uint8_t> data) {
constexpr size_t kDataOff = 0;
wpi::array<double, Size> vec_data =
wpi::UnpackStructArray<double, kDataOff, Size>(data);
frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> vec;
for (int i = 0; i < Size; i++) {
vec(i) = vec_data[i];
}
return vec;
}
static void Pack(
std::span<uint8_t> data,
const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value);
const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
constexpr size_t kDataOff = 0;
wpi::array<double, Size> vec_data(wpi::empty_array);
for (int i = 0; i < Size; i++) {
vec_data[i] = value(i);
}
wpi::PackStructArray<kDataOff, Size>(data, vec_data);
}
};
static_assert(wpi::StructSerializable<frc::Vectord<1>>);
static_assert(wpi::StructSerializable<frc::Vectord<3>>);
#include "frc/struct/VectorStruct.inc"

33
wpimath/src/main/native/include/frc/struct/VectorStruct.inc
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@@ -1,33 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include "frc/struct/VectorStruct.h"
template <int Size, int Options, int MaxRows, int MaxCols>
frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>
wpi::Struct<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>::Unpack(
std::span<const uint8_t> data) {
constexpr size_t kDataOff = 0;
wpi::array<double, Size> vec_data =
wpi::UnpackStructArray<double, kDataOff, Size>(data);
frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> vec;
for (int i = 0; i < Size; i++) {
vec(i) = vec_data[i];
}
return vec;
}
template <int Size, int Options, int MaxRows, int MaxCols>
void wpi::Struct<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>::Pack(
std::span<uint8_t> data,
const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
constexpr size_t kDataOff = 0;
wpi::array<double, Size> vec_data(wpi::empty_array);
for (int i = 0; i < Size; i++) {
vec_data[i] = value(i);
}
wpi::PackStructArray<kDataOff, Size>(data, vec_data);
}