[wpiutil] Struct: Add info template parameter pack (#6086)

This allows using Struct in a dynamically typed environment by passing
additional information to the Struct serialization functions.

ntcore/src/main/native/include/networktables/NetworkTable.h

@@ -37,9 +37,11 @@ class ProtobufTopic;
 class RawTopic;
 class StringArrayTopic;
 class StringTopic;
-template <wpi::StructSerializable T>
+template <typename T, typename... I>
+  requires wpi::StructSerializable<T, I...>
 class StructArrayTopic;
-template <wpi::StructSerializable T>
+template <typename T, typename... I>
+  requires wpi::StructSerializable<T, I...>
 class StructTopic;
 class Topic;
 

ntcore/src/main/native/include/networktables/NetworkTableInstance.h

@@ -37,9 +37,11 @@ class ProtobufTopic;
 class RawTopic;
 class StringArrayTopic;
 class StringTopic;
-template <wpi::StructSerializable T>
+template <typename T, typename... I>
+  requires wpi::StructSerializable<T, I...>
 class StructArrayTopic;
-template <wpi::StructSerializable T>
+template <typename T, typename... I>
+  requires wpi::StructSerializable<T, I...>
 class StructTopic;
 class Subscriber;
 class Topic;
@@ -260,19 +262,24 @@ class NetworkTableInstance final {
    * Gets a raw struct serialized value topic.
    *
    * @param name topic name
+   * @param info optional struct type info
    * @return Topic
    */
-  template <wpi::StructSerializable T>
-  StructTopic<T> GetStructTopic(std::string_view name) const;
+  template <typename T, typename... I>
+    requires wpi::StructSerializable<T, I...>
+  StructTopic<T, I...> GetStructTopic(std::string_view name, I... info) const;
 
   /**
    * Gets a raw struct serialized array topic.
    *
    * @param name topic name
+   * @param info optional struct type info
    * @return Topic
    */
-  template <wpi::StructSerializable T>
-  StructArrayTopic<T> GetStructArrayTopic(std::string_view name) const;
+  template <typename T, typename... I>
+    requires wpi::StructSerializable<T, I...>
+  StructArrayTopic<T, I...> GetStructArrayTopic(std::string_view name,
+                                                I... info) const;
 
   /**
    * Get Published Topics.
@@ -818,10 +825,12 @@ class NetworkTableInstance final {
    * Registers a struct schema. Duplicate calls to this function with the same
    * name are silently ignored.
    *
-   * @param T struct serializable type
+   * @tparam T struct serializable type
+   * @param info optional struct type info
    */
-  template <wpi::StructSerializable T>
-  void AddStructSchema();
+  template <typename T, typename... I>
+    requires wpi::StructSerializable<T, I...>
+  void AddStructSchema(const I&... info);
 
   /**
    * Equality operator.  Returns true if both instances refer to the same

ntcore/src/main/native/include/networktables/NetworkTableInstance.inc

@@ -44,16 +44,18 @@ inline ProtobufTopic<T> NetworkTableInstance::GetProtobufTopic(
   return ProtobufTopic<T>{GetTopic(name)};
 }
 
-template <wpi::StructSerializable T>
-inline StructTopic<T> NetworkTableInstance::GetStructTopic(
-    std::string_view name) const {
-  return StructTopic<T>{GetTopic(name)};
+template <typename T, typename... I>
+  requires wpi::StructSerializable<T, I...>
+inline StructTopic<T, I...> NetworkTableInstance::GetStructTopic(
+    std::string_view name, I... info) const {
+  return StructTopic<T, I...>{GetTopic(name), std::move(info)...};
 }
 
-template <wpi::StructSerializable T>
-inline StructArrayTopic<T> NetworkTableInstance::GetStructArrayTopic(
-    std::string_view name) const {
-  return StructArrayTopic<T>{GetTopic(name)};
+template <typename T, typename... I>
+  requires wpi::StructSerializable<T, I...>
+inline StructArrayTopic<T, I...> NetworkTableInstance::GetStructArrayTopic(
+    std::string_view name, I... info) const {
+  return StructArrayTopic<T, I...>{GetTopic(name), std::move(info)...};
 }
 
 inline std::vector<Topic> NetworkTableInstance::GetTopics() {
@@ -272,11 +274,14 @@ void NetworkTableInstance::AddProtobufSchema(wpi::ProtobufMessage<T>& msg) {
       });
 }
 
-template <wpi::StructSerializable T>
-void NetworkTableInstance::AddStructSchema() {
-  wpi::ForEachStructSchema<T>([this](auto typeString, auto schema) {
-    AddSchema(typeString, "structschema", schema);
-  });
+template <typename T, typename... I>
+  requires wpi::StructSerializable<T, I...>
+void NetworkTableInstance::AddStructSchema(const I&... info) {
+  wpi::ForEachStructSchema<T>(
+      [this](auto typeString, auto schema) {
+        AddSchema(typeString, "structschema", schema);
+      },
+      info...);
 }
 
 #ifdef __clang__