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[epilogue] Fix v3 scheduler incompatibility with epilogue (#8458)

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Was caused by checking assignability like`Protobuf<Scheduler,
ProtoMessage>` instead of `Protobuf<Scheduler, ? extends
ProtoMessage<?>>`

This epilogue bug would have also applied to other protobuf-serializable
types
This commit is contained in:
Sam Carlberg
2025-12-07 01:38:10 -05:00
committed by GitHub
parent 59edbdd3cc
commit 44cf645632
4 changed files with 33 additions and 7 deletions
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18
epilogue-processor/src/main/java/org/wpilib/epilogue/processor/ProtobufHandler.java
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@@ -58,14 +58,20 @@ public class ProtobufHandler extends ElementHandler {
return false;
}
// eg `Protobuf<Rotation2d, ?>` instead of the raw `Protobuf` type. The message type doesn't
// really matter here; we can leave it as a wildcard.
// Build a type like `Protobuf<SerializableType, ? extends ProtoMessage<?>>` to match
// implementations such as `SchedulerProto implements Protobuf<Scheduler, ProtobufScheduler>`.
// Note: Using `ProtoMessage` raw as the upper bound causes assignability to fail; we must use
// `ProtoMessage<?>` as the bound, then wrap that with an extends wildcard.
var protoMessageElement = m_elementUtils.getTypeElement("us.hebi.quickbuf.ProtoMessage");
var protoMessageWildcard =
m_typeUtils.getDeclaredType(protoMessageElement, m_typeUtils.getWildcardType(null, null));
var boundedProtoMessageWildcard = m_typeUtils.getWildcardType(protoMessageWildcard, null);
var sharpProtobufType =
m_typeUtils.getDeclaredType(
m_protobufType,
typeElement.asType(), // the serializable type
m_typeUtils.getWildcardType(
m_elementUtils.getTypeElement("us.hebi.quickbuf.ProtoMessage").asType(), null));
boundedProtoMessageWildcard);
boolean hasProto =
typeElement.getEnclosedElements().stream()
@@ -78,9 +84,7 @@ public class ProtobufHandler extends ElementHandler {
field
.getModifiers()
.containsAll(Set.of(Modifier.PUBLIC, Modifier.STATIC, Modifier.FINAL));
var typeMatch =
m_typeUtils.isAssignable(
m_typeUtils.erasure(field.asType()), sharpProtobufType);
var typeMatch = m_typeUtils.isAssignable(field.asType(), sharpProtobufType);
return nameMatch && modifiersMatch && typeMatch;
});
return m_typeUtils.isAssignable(type, m_serializable) && hasProto;