[wpilibj] Procedural structs for enums and records

[oh-yes-0-fps]

2024-10-02.16-01-39.mp4

import static edu.wpi.first.util.struct.ProceduralStructGenerator.genEnum;
import static edu.wpi.first.util.struct.ProceduralStructGenerator.genRecord;

// An example of using procedural structs
public class TestingGround {
    public record MySubRecord(int int64, boolean bool, double float64) implements StructSerializable {
        public static final Struct<MySubRecord> struct = genRecord(MySubRecord.class);
    }
    public enum MySubEnum implements StructSerializable {
        A(1), B(2), C(3);

        public final int value;

        MySubEnum(int value) {
            this.value = value;
        }

        public static final Struct<MySubEnum> struct = genEnum(MySubEnum.class);
    }

    public record MyRecord(MySubRecord sub, Translation2d pose, MySubEnum eenum) {}
    private static final Struct<MyRecord> myRecordStruct = genRecord(MyRecord.class);

    private static final StructPublisher<MyRecord> publisher = NetworkTableInstance.getDefault()
            .getStructTopic("structTestTopic", myRecordStruct)
            .publish();

    public static void periodic() {
        double rand = Math.random() * 100;
        MySubRecord subRec = new MySubRecord((int) (rand/2.0), rand > 50, rand);
        Translation2d translation = new Translation2d(-rand, rand);
        MySubEnum eenum = MySubEnum.values()[(int) (rand / 50.0)];
        MyRecord record = new MyRecord(subRec, translation, eenum);
        publisher.set(record);
    }
}

[oh-yes-0-fps]

The enum variant field not working as intended is isolated to glass, in advantage scope it works as intended.

[oh-yes-0-fps]

Hypothetically if a genObject was added to this you could do stuff like this. The issue with genObject is it will only work with statically sized POJO's. But that static size constraint is already there for enums and records so maybe adding a genObject method wouldn't be a bad idea.

2024-10-06.23-03-10.mp4