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158fb23072
This makes it easier to define schemas when the type name is non-trivial (e.g., templated structs). This is breaking for a) custom struct implementations and b) anything calling `wpi::Struct<T>::GetTypeString(info...)` in C++ directly. In both cases, it's a simple translation: For A, rename `GetTypeString()` to `GetTypeName()` and remove the struct: at the beginning, and for B, use `wpi::GetStructTypeString<T>(info...)` instead.
30 lines
1.0 KiB
C++
30 lines
1.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <wpi/SymbolExports.h>
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#include <wpi/struct/Struct.h>
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#include "frc/geometry/Rotation3d.h"
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template <>
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struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation3d> {
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static constexpr std::string_view GetTypeName() { return "Rotation3d"; }
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static constexpr size_t GetSize() {
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return wpi::GetStructSize<frc::Quaternion>();
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}
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static constexpr std::string_view GetSchema() { return "Quaternion q"; }
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static frc::Rotation3d Unpack(std::span<const uint8_t> data);
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static void Pack(std::span<uint8_t> data, const frc::Rotation3d& value);
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static void ForEachNested(
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std::invocable<std::string_view, std::string_view> auto fn) {
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wpi::ForEachStructSchema<frc::Quaternion>(fn);
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}
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};
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static_assert(wpi::StructSerializable<frc::Rotation3d>);
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static_assert(wpi::HasNestedStruct<frc::Rotation3d>);
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