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bb05e20247
This implements de/serialization for the types that aren't templated (SwerveDriveKinematics) in C++ or where there is no trivial way to go round-trip (Splines) for the messages.
26 lines
978 B
C++
26 lines
978 B
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/kinematics/SwerveModuleState.h"
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template <>
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struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModuleState> {
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static constexpr std::string_view kTypeString = "struct:SwerveModuleState";
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static constexpr size_t kSize = 8 + wpi::Struct<frc::Rotation2d>::kSize;
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static constexpr std::string_view kSchema = "double speed;Rotation2d angle";
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static frc::SwerveModuleState Unpack(std::span<const uint8_t, kSize> data);
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static void Pack(std::span<uint8_t, kSize> data,
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const frc::SwerveModuleState& 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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};
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static_assert(wpi::HasNestedStruct<frc::SwerveModuleState>);
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