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[wpimath] Add remaining struct and protobuf implementations (#5953)

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This commit is contained in:
Joseph Eng
2024-07-29 07:55:44 -07:00
committed by GitHub
parent 3e1e3fb4ca
commit 073192d513
112 changed files with 3989 additions and 45 deletions
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85
wpiutil/src/main/native/include/wpi/protobuf/Protobuf.h
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@@ -14,11 +14,16 @@
#include <utility>
#include <vector>
#include "wpi/array.h"
#include "wpi/function_ref.h"
namespace google::protobuf {
class Arena;
class Message;
template <typename T>
class RepeatedPtrField;
template <typename T>
class RepeatedField;
} // namespace google::protobuf
namespace wpi {
@@ -102,6 +107,50 @@ inline T UnpackProtobuf(const google::protobuf::Message& msg) {
return Protobuf<T>::Unpack(msg);
}
/**
* Unpack a serialized protobuf array message.
*
* @tparam Proto element type of the protobuf array
* @tparam T object type
* @tparam N number of objects
* @param msg protobuf array message
* @return Deserialized array
*/
template <std::derived_from<google::protobuf::Message> Proto,
ProtobufSerializable T, size_t N>
wpi::array<T, N> UnpackProtobufArray(
const google::protobuf::RepeatedPtrField<Proto>& msg) {
if (N != std::dynamic_extent && msg.size() != N) {
// TODO
}
wpi::array<T, N> arr(wpi::empty_array);
for (size_t i = 0; i < N; i++) {
arr[i] = wpi::UnpackProtobuf<T>(msg.Get(i));
}
return arr;
}
/**
* Unpack a serialized protobuf array message.
*
* @tparam T element type of the protobuf array
* @tparam N number of objects
* @param msg protobuf array message
* @return Deserialized array
*/
template <typename T, size_t N>
wpi::array<T, N> UnpackProtobufArray(
const google::protobuf::RepeatedField<T>& msg) {
if (N != std::dynamic_extent && msg.size() != N) {
// TODO
}
wpi::array<T, N> arr(wpi::empty_array);
for (size_t i = 0; i < N; i++) {
arr[i] = msg.Get(i);
}
return arr;
}
/**
* Pack a serialized protobuf message.
*
@@ -113,6 +162,42 @@ inline void PackProtobuf(google::protobuf::Message* msg, const T& value) {
Protobuf<typename std::remove_cvref_t<T>>::Pack(msg, value);
}
/**
* Pack a serialized protobuf array message.
*
* @tparam Proto element type of the protobuf array
* @tparam T object type
* @tparam N number of objects
* @param msg protobuf message (mutable, output)
* @param arr array of objects
*/
template <std::derived_from<google::protobuf::Message> Proto,
ProtobufSerializable T, size_t N>
void PackProtobufArray(google::protobuf::RepeatedPtrField<Proto>* msg,
const wpi::array<T, N>& arr) {
msg->Clear();
msg->Reserve(N);
for (const auto& obj : arr) {
PackProtobuf(msg->Add(), obj);
}
}
/**
* Pack a serialized protobuf array message.
*
* @tparam T object type
* @tparam N number of objects
* @param msg protobuf message (mutable, output)
* @param arr array of objects
*/
template <typename T, size_t N>
void PackProtobufArray(google::protobuf::RepeatedField<T>* msg,
const wpi::array<T, N>& arr) {
msg->Clear();
msg->Reserve(N);
msg->Add(arr.begin(), arr.end());
}
/**
* Unpack a serialized struct into an existing object, overwriting its contents.
*