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https://github.com/wpilibsuite/allwpilib
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a583ca01e1
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.
26 lines
891 B
C++
26 lines
891 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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#include "frc/kinematics/struct/SwerveModuleStateStruct.h"
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namespace {
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constexpr size_t kSpeedOff = 0;
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constexpr size_t kAngleOff = kSpeedOff + 8;
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} // namespace
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using StructType = wpi::Struct<frc::SwerveModuleState>;
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frc::SwerveModuleState StructType::Unpack(std::span<const uint8_t> data) {
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return frc::SwerveModuleState{
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units::meters_per_second_t{wpi::UnpackStruct<double, kSpeedOff>(data)},
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wpi::UnpackStruct<frc::Rotation2d, kAngleOff>(data),
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};
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}
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void StructType::Pack(std::span<uint8_t> data,
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const frc::SwerveModuleState& value) {
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wpi::PackStruct<kSpeedOff>(data, value.speed.value());
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wpi::PackStruct<kAngleOff>(data, value.angle);
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}
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