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

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.

wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.h

@@ -4,17 +4,49 @@
 
 #pragma once
 
+#include <stdexcept>
+
+#include <fmt/format.h>
+#include <wpi/ProtoHelper.h>
 #include <wpi/protobuf/Protobuf.h>
 
+#include "frc/proto/MatrixProto.h"
 #include "frc/system/LinearSystem.h"
+#include "system.pb.h"
 
 template <int States, int Inputs, int Outputs>
 struct wpi::Protobuf<frc::LinearSystem<States, Inputs, Outputs>> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::LinearSystem<States, Inputs, Outputs> Unpack(
-      const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::LinearSystem<States, Inputs, Outputs>& value);
-};
+  static google::protobuf::Message* New(google::protobuf::Arena* arena) {
+    return wpi::CreateMessage<wpi::proto::ProtobufLinearSystem>(arena);
+  }
 
-#include "frc/system/proto/LinearSystemProto.inc"
+  static frc::LinearSystem<States, Inputs, Outputs> Unpack(
+      const google::protobuf::Message& msg) {
+    auto m = static_cast<const wpi::proto::ProtobufLinearSystem*>(&msg);
+    if (m->num_states() != States || m->num_inputs() != Inputs ||
+        m->num_outputs() != Outputs) {
+      throw std::invalid_argument(fmt::format(
+          "Tried to unpack message with {} states and {} inputs and {} outputs "
+          "into LinearSystem with {} states and {} inputs and {} outputs",
+          m->num_states(), m->num_inputs(), m->num_outputs(), States, Inputs,
+          Outputs));
+    }
+    return frc::LinearSystem<States, Inputs, Outputs>{
+        wpi::UnpackProtobuf<frc::Matrixd<States, States>>(m->wpi_a()),
+        wpi::UnpackProtobuf<frc::Matrixd<States, Inputs>>(m->wpi_b()),
+        wpi::UnpackProtobuf<frc::Matrixd<Outputs, States>>(m->wpi_c()),
+        wpi::UnpackProtobuf<frc::Matrixd<Outputs, Inputs>>(m->wpi_d())};
+  }
+
+  static void Pack(google::protobuf::Message* msg,
+                   const frc::LinearSystem<States, Inputs, Outputs>& value) {
+    auto m = static_cast<wpi::proto::ProtobufLinearSystem*>(msg);
+    m->set_num_states(States);
+    m->set_num_inputs(Inputs);
+    m->set_num_outputs(Outputs);
+    wpi::PackProtobuf(m->mutable_a(), value.A());
+    wpi::PackProtobuf(m->mutable_b(), value.B());
+    wpi::PackProtobuf(m->mutable_c(), value.C());
+    wpi::PackProtobuf(m->mutable_d(), value.D());
+  }
+};

wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.inc

@@ -1,55 +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 <stdexcept>
-
-#include <fmt/format.h>
-#include <wpi/ProtoHelper.h>
-
-#include "frc/proto/MatrixProto.h"
-#include "frc/system/proto/LinearSystemProto.h"
-#include "system.pb.h"
-
-template <int States, int Inputs, int Outputs>
-google::protobuf::Message*
-wpi::Protobuf<frc::LinearSystem<States, Inputs, Outputs>>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufLinearSystem>(arena);
-}
-
-template <int States, int Inputs, int Outputs>
-frc::LinearSystem<States, Inputs, Outputs>
-wpi::Protobuf<frc::LinearSystem<States, Inputs, Outputs>>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufLinearSystem*>(&msg);
-  if (m->num_states() != States || m->num_inputs() != Inputs ||
-      m->num_outputs() != Outputs) {
-    throw std::invalid_argument(fmt::format(
-        "Tried to unpack message with {} states and {} inputs and {} outputs "
-        "into LinearSystem with {} states and {} inputs and {} outputs",
-        m->num_states(), m->num_inputs(), m->num_outputs(), States, Inputs,
-        Outputs));
-  }
-  return frc::LinearSystem<States, Inputs, Outputs>{
-      wpi::UnpackProtobuf<frc::Matrixd<States, States>>(m->wpi_a()),
-      wpi::UnpackProtobuf<frc::Matrixd<States, Inputs>>(m->wpi_b()),
-      wpi::UnpackProtobuf<frc::Matrixd<Outputs, States>>(m->wpi_c()),
-      wpi::UnpackProtobuf<frc::Matrixd<Outputs, Inputs>>(m->wpi_d())};
-}
-
-template <int States, int Inputs, int Outputs>
-void wpi::Protobuf<frc::LinearSystem<States, Inputs, Outputs>>::Pack(
-    google::protobuf::Message* msg,
-    const frc::LinearSystem<States, Inputs, Outputs>& value) {
-  auto m = static_cast<wpi::proto::ProtobufLinearSystem*>(msg);
-  m->set_num_states(States);
-  m->set_num_inputs(Inputs);
-  m->set_num_outputs(Outputs);
-  wpi::PackProtobuf(m->mutable_a(), value.A());
-  wpi::PackProtobuf(m->mutable_b(), value.B());
-  wpi::PackProtobuf(m->mutable_c(), value.C());
-  wpi::PackProtobuf(m->mutable_d(), value.D());
-}

wpimath/src/main/native/include/frc/system/struct/LinearSystemStruct.h

@@ -32,9 +32,36 @@ struct wpi::Struct<frc::LinearSystem<States, Inputs, Outputs>> {
   static constexpr std::string_view GetSchema() { return kSchema; }
 
   static frc::LinearSystem<States, Inputs, Outputs> Unpack(
-      std::span<const uint8_t> data);
+      std::span<const uint8_t> data) {
+    constexpr size_t kAOff = 0;
+    constexpr size_t kBOff =
+        kAOff + wpi::GetStructSize<frc::Matrixd<States, States>>();
+    constexpr size_t kCOff =
+        kBOff + wpi::GetStructSize<frc::Matrixd<States, Inputs>>();
+    constexpr size_t kDOff =
+        kCOff + wpi::GetStructSize<frc::Matrixd<Outputs, States>>();
+    return frc::LinearSystem<States, Inputs, Outputs>{
+        wpi::UnpackStruct<frc::Matrixd<States, States>, kAOff>(data),
+        wpi::UnpackStruct<frc::Matrixd<States, Inputs>, kBOff>(data),
+        wpi::UnpackStruct<frc::Matrixd<Outputs, States>, kCOff>(data),
+        wpi::UnpackStruct<frc::Matrixd<Outputs, Inputs>, kDOff>(data)};
+  }
+
   static void Pack(std::span<uint8_t> data,
-                   const frc::LinearSystem<States, Inputs, Outputs>& value);
+                   const frc::LinearSystem<States, Inputs, Outputs>& value) {
+    constexpr size_t kAOff = 0;
+    constexpr size_t kBOff =
+        kAOff + wpi::GetStructSize<frc::Matrixd<States, States>>();
+    constexpr size_t kCOff =
+        kBOff + wpi::GetStructSize<frc::Matrixd<States, Inputs>>();
+    constexpr size_t kDOff =
+        kCOff + wpi::GetStructSize<frc::Matrixd<Outputs, States>>();
+    wpi::PackStruct<kAOff>(data, value.A());
+    wpi::PackStruct<kBOff>(data, value.B());
+    wpi::PackStruct<kCOff>(data, value.C());
+    wpi::PackStruct<kDOff>(data, value.D());
+  }
+
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
     wpi::ForEachStructSchema<frc::Matrixd<States, States>>(fn);
@@ -48,5 +75,3 @@ static_assert(wpi::StructSerializable<frc::LinearSystem<4, 3, 2>>);
 static_assert(wpi::HasNestedStruct<frc::LinearSystem<4, 3, 2>>);
 static_assert(wpi::StructSerializable<frc::LinearSystem<2, 3, 4>>);
 static_assert(wpi::HasNestedStruct<frc::LinearSystem<2, 3, 4>>);
-
-#include "frc/system/struct/LinearSystemStruct.inc"

wpimath/src/main/native/include/frc/system/struct/LinearSystemStruct.inc

@@ -1,42 +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/system/struct/LinearSystemStruct.h"
-
-template <int States, int Inputs, int Outputs>
-frc::LinearSystem<States, Inputs, Outputs>
-wpi::Struct<frc::LinearSystem<States, Inputs, Outputs>>::Unpack(
-    std::span<const uint8_t> data) {
-  constexpr size_t kAOff = 0;
-  constexpr size_t kBOff =
-      kAOff + wpi::GetStructSize<frc::Matrixd<States, States>>();
-  constexpr size_t kCOff =
-      kBOff + wpi::GetStructSize<frc::Matrixd<States, Inputs>>();
-  constexpr size_t kDOff =
-      kCOff + wpi::GetStructSize<frc::Matrixd<Outputs, States>>();
-  return frc::LinearSystem<States, Inputs, Outputs>{
-      wpi::UnpackStruct<frc::Matrixd<States, States>, kAOff>(data),
-      wpi::UnpackStruct<frc::Matrixd<States, Inputs>, kBOff>(data),
-      wpi::UnpackStruct<frc::Matrixd<Outputs, States>, kCOff>(data),
-      wpi::UnpackStruct<frc::Matrixd<Outputs, Inputs>, kDOff>(data)};
-}
-
-template <int States, int Inputs, int Outputs>
-void wpi::Struct<frc::LinearSystem<States, Inputs, Outputs>>::Pack(
-    std::span<uint8_t> data,
-    const frc::LinearSystem<States, Inputs, Outputs>& value) {
-  constexpr size_t kAOff = 0;
-  constexpr size_t kBOff =
-      kAOff + wpi::GetStructSize<frc::Matrixd<States, States>>();
-  constexpr size_t kCOff =
-      kBOff + wpi::GetStructSize<frc::Matrixd<States, Inputs>>();
-  constexpr size_t kDOff =
-      kCOff + wpi::GetStructSize<frc::Matrixd<Outputs, States>>();
-  wpi::PackStruct<kAOff>(data, value.A());
-  wpi::PackStruct<kBOff>(data, value.B());
-  wpi::PackStruct<kCOff>(data, value.C());
-  wpi::PackStruct<kDOff>(data, value.D());
-}