WPILibC++ 2024.3.2
SwerveModulePositionStruct.h
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1// Copyright (c) FIRST and other WPILib contributors.
2// Open Source Software; you can modify and/or share it under the terms of
3// the WPILib BSD license file in the root directory of this project.
4
5#pragma once
6
7#include <wpi/SymbolExports.h>
8#include <wpi/struct/Struct.h>
9
11
12template <>
13struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModulePosition> {
14 static constexpr std::string_view GetTypeString() {
15 return "struct:SwerveModulePosition";
16 }
17 static constexpr size_t GetSize() {
18 return 8 + wpi::GetStructSize<frc::Rotation2d>();
19 }
20 static constexpr std::string_view GetSchema() {
21 return "double distance;Rotation2d angle";
22 }
23
24 static frc::SwerveModulePosition Unpack(std::span<const uint8_t> data);
25 static void Pack(std::span<uint8_t> data,
26 const frc::SwerveModulePosition& value);
27 static void ForEachNested(
28 std::invocable<std::string_view, std::string_view> auto fn) {
29 wpi::ForEachStructSchema<frc::Rotation2d>(fn);
30 }
31};
32
#define WPILIB_DLLEXPORT
Definition: SymbolExports.h:36
Specifies that a struct type has nested struct declarations.
Definition: Struct.h:119
Specifies that a type is capable of raw struct serialization and deserialization.
Definition: Struct.h:68
basic_string_view< char > string_view
Definition: core.h:501
Definition: ntcore_cpp.h:26
Represents the position of one swerve module.
Definition: SwerveModulePosition.h:19
static void Pack(std::span< uint8_t > data, const frc::SwerveModulePosition &value)
static void ForEachNested(std::invocable< std::string_view, std::string_view > auto fn)
Definition: SwerveModulePositionStruct.h:27
static frc::SwerveModulePosition Unpack(std::span< const uint8_t > data)
static constexpr std::string_view GetTypeString()
Definition: SwerveModulePositionStruct.h:14
static constexpr std::string_view GetSchema()
Definition: SwerveModulePositionStruct.h:20
static constexpr size_t GetSize()
Definition: SwerveModulePositionStruct.h:17