[wpiutil] Change C++ protobuf to nanopb (#7309)

The Google C++ protobuf implementation has issues with dynamic linkage across DLL boundaries because it uses global variables.  It also has a compile-time dependency because the protoc version must exactly match the libprotobuf version.  Using nanopb with a customized generator fixes both of these issues.

Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>

.github/workflows/pregen_all.py

@@ -33,6 +33,13 @@ def main():
         ],
         check=True,
     )
+    subprocess.run(
+        [
+            sys.executable,
+            f"{REPO_ROOT}/wpimath/generate_nanopb.py",
+        ],
+        check=True,
+    )
     subprocess.run(
         [sys.executable, f"{REPO_ROOT}/wpiunits/generate_units.py"], check=True
     )
@@ -53,6 +60,13 @@ def main():
         [sys.executable, f"{REPO_ROOT}/wpilibj/generate_pwm_motor_controllers.py"],
         check=True,
     )
+    subprocess.run(
+        [
+            sys.executable,
+            f"{REPO_ROOT}/wpiutil/generate_nanopb.py",
+        ],
+        check=True,
+    )
     subprocess.run(
         [sys.executable, f"{REPO_ROOT}/thirdparty/imgui_suite/generate_gl3w.py"],
         check=True,

.github/workflows/pregenerate.yml

@@ -22,8 +22,8 @@ jobs:
         uses: actions/setup-python@v5
         with:
           python-version: '3.12'
-      - name: Install jinja
-        run: python -m pip install jinja2
+      - name: Install jinja and protobuf
+        run: python -m pip install jinja2 protobuf grpcio-tools
       - name: Install protobuf dependencies
         run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Regenerate all

.gitignore

@@ -15,6 +15,8 @@ networktables.json
 ntcore/connectionlistenertest.json
 ntcore/timesynctest.json
 
+nanopb_pb2.py
+
 # Created by the jenkins test script
 test-reports
 

shared/java/javacommon.gradle

@@ -155,6 +155,13 @@ protobuf {
     }
     generateProtoTasks {
         all().configureEach { task ->
+            if (project.hasProperty('skipproto')) {
+                task.builtins {
+                    cpp {}
+                    remove java
+                }
+                return
+            }
             task.inputs.file(rootProject.file("protoplugin/binary/wpiprotoplugin.jar"))
             task.plugins {
                 wpilib {

upstream_utils/nanopb.py

@@ -0,0 +1,76 @@
+#!/usr/bin/env python3
+
+import os
+import shutil
+
+from upstream_utils import Lib, copy_to, walk_if
+
+nanopb_sources = set(
+    [
+        "pb_encode.c",
+        "pb_decode.c",
+        "pb_common.c",
+    ]
+)
+
+nanopb_headers = set(
+    [
+        "pb.h",
+        "pb_encode.h",
+        "pb_decode.h",
+        "pb_common.h",
+    ]
+)
+
+nanopb_generator = set(
+    [
+        "pb.h",
+        "pb_encode.h",
+        "pb_decode.h",
+        "pb_common.h",
+    ]
+)
+
+
+def copy_upstream_src(wpilib_root):
+    wpiutil = os.path.join(wpilib_root, "wpiutil")
+
+    # Delete old install
+    for d in [
+        "src/main/native/thirdparty/nanopb/src",
+        "src/main/native/thirdparty/nanopb/include",
+        "src/main/native/thirdparty/nanopb/generator",
+    ]:
+        shutil.rmtree(os.path.join(wpiutil, d), ignore_errors=True)
+
+    # Copy nanopb source files into allwpilib
+    copy_to(
+        nanopb_sources,
+        os.path.join(wpiutil, "src/main/native/thirdparty/nanopb/src"),
+        rename_c_to_cpp=True,
+    )
+
+    # Copy nanopb header files into allwpilib
+    copy_to(
+        nanopb_headers,
+        os.path.join(wpiutil, "src/main/native/thirdparty/nanopb/include"),
+    )
+
+    generator_files = walk_if("generator", lambda dp, f: True)
+    copy_to(
+        generator_files,
+        os.path.join(wpiutil, "src/main/native/thirdparty/nanopb"),
+    )
+
+
+def main():
+    name = "nanopb"
+    url = "https://github.com/nanopb/nanopb"
+    tag = "0.4.9"
+
+    nanopb = Lib(name, url, tag, copy_upstream_src)
+    nanopb.main()
+
+
+if __name__ == "__main__":
+    main()

upstream_utils/nanopb_patches/0001-Marked-imported-files-as-modified-by-WPILib.patch

@@ -0,0 +1,909 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Thad House <thadhouse1@gmail.com>
+Date: Mon, 28 Oct 2024 17:38:55 -0700
+Subject: [PATCH 1/4] Marked imported files as modified by WPILib
+
+---
+ generator/nanopb_generator.py |   2 +
+ pb.h                          |   2 +
+ pb_common.c                   |   3 +-
+ pb_common.h                   |   2 +
+ pb_decode.c                   | 144 +++++++++++++++++-----------------
+ pb_decode.h                   |   2 +
+ pb_encode.c                   |  80 ++++++++++---------
+ pb_encode.h                   |   2 +
+ 8 files changed, 126 insertions(+), 111 deletions(-)
+
+diff --git a/generator/nanopb_generator.py b/generator/nanopb_generator.py
+index 6068042b59da04842ff13d4d56dfc35366003a5f..735e4b7b31cdb66a1cdfbd2da6ae8fcde5986147 100755
+--- a/generator/nanopb_generator.py
++++ b/generator/nanopb_generator.py
+@@ -1,6 +1,8 @@
+ #!/usr/bin/env python3
+ # kate: replace-tabs on; indent-width 4;
+ 
++# Modified for WPILib use
++
+ from __future__ import unicode_literals
+ 
+ '''Generate header file for nanopb from a ProtoBuf FileDescriptorSet.'''
+diff --git a/pb.h b/pb.h
+index 1bff70e4e6fbf029e3d6140f5ffd812b9bc7d12e..cec078fe40d526712eda771db077ebf31c95e076 100644
+--- a/pb.h
++++ b/pb.h
+@@ -1,5 +1,7 @@
+ /* Common parts of the nanopb library. Most of these are quite low-level
+  * stuff. For the high-level interface, see pb_encode.h and pb_decode.h.
++ *
++ * Modified for WPILib Use
+  */
+ 
+ #ifndef PB_H_INCLUDED
+diff --git a/pb_common.c b/pb_common.c
+index 6aee76b1efa1e6f2f3fe7d43629da9b2114eea19..73698dd7c5b64f122f00a3a3dd8312b6d0e72557 100644
+--- a/pb_common.c
++++ b/pb_common.c
+@@ -1,4 +1,6 @@
+ /* pb_common.c: Common support functions for pb_encode.c and pb_decode.c.
++ *
++ * Modified for WPILib Use
+  *
+  * 2014 Petteri Aimonen <jpa@kapsi.fi>
+  */
+@@ -385,4 +387,3 @@ bool pb_validate_utf8(const char *str)
+ }
+ 
+ #endif
+-
+diff --git a/pb_common.h b/pb_common.h
+index 58aa90f76d58596d3f45a120b65b4a0bff7fd688..d1d8bf55b13412887ab6d8fc6cfaf51348da9605 100644
+--- a/pb_common.h
++++ b/pb_common.h
+@@ -1,5 +1,7 @@
+ /* pb_common.h: Common support functions for pb_encode.c and pb_decode.c.
+  * These functions are rarely needed by applications directly.
++ *
++ * Modified for WPILib Use
+  */
+ 
+ #ifndef PB_COMMON_H_INCLUDED
+diff --git a/pb_decode.c b/pb_decode.c
+index 068306a05339af05b3b3fb80894746ed9a077bf8..03143e02a596b2f03023437e5f18e5f118580d22 100644
+--- a/pb_decode.c
++++ b/pb_decode.c
+@@ -1,4 +1,6 @@
+ /* pb_decode.c -- decode a protobuf using minimal resources
++ *
++ * Modified for WPILib Use
+  *
+  * 2011 Petteri Aimonen <jpa@kapsi.fi>
+  */
+@@ -70,12 +72,12 @@ static bool checkreturn buf_read(pb_istream_t *stream, pb_byte_t *buf, size_t co
+ {
+     const pb_byte_t *source = (const pb_byte_t*)stream->state;
+     stream->state = (pb_byte_t*)stream->state + count;
+-    
++
+     if (buf != NULL)
+     {
+         memcpy(buf, source, count * sizeof(pb_byte_t));
+     }
+-    
++
+     return true;
+ }
+ 
+@@ -93,17 +95,17 @@ bool checkreturn pb_read(pb_istream_t *stream, pb_byte_t *buf, size_t count)
+ 		{
+ 			if (!pb_read(stream, tmp, 16))
+ 				return false;
+-			
++
+ 			count -= 16;
+ 		}
+-		
++
+ 		return pb_read(stream, tmp, count);
+ 	}
+ #endif
+ 
+     if (stream->bytes_left < count)
+         PB_RETURN_ERROR(stream, "end-of-stream");
+-    
++
+ #ifndef PB_BUFFER_ONLY
+     if (!stream->callback(stream, buf, count))
+         PB_RETURN_ERROR(stream, "io error");
+@@ -111,7 +113,7 @@ bool checkreturn pb_read(pb_istream_t *stream, pb_byte_t *buf, size_t count)
+     if (!buf_read(stream, buf, count))
+         return false;
+ #endif
+-    
++
+     if (stream->bytes_left < count)
+         stream->bytes_left = 0;
+     else
+@@ -136,8 +138,8 @@ static bool checkreturn pb_readbyte(pb_istream_t *stream, pb_byte_t *buf)
+ #endif
+ 
+     stream->bytes_left--;
+-    
+-    return true;    
++
++    return true;
+ }
+ 
+ pb_istream_t pb_istream_from_buffer(const pb_byte_t *buf, size_t msglen)
+@@ -172,7 +174,7 @@ static bool checkreturn pb_decode_varint32_eof(pb_istream_t *stream, uint32_t *d
+ {
+     pb_byte_t byte;
+     uint32_t result;
+-    
++
+     if (!pb_readbyte(stream, &byte))
+     {
+         if (stream->bytes_left == 0)
+@@ -185,7 +187,7 @@ static bool checkreturn pb_decode_varint32_eof(pb_istream_t *stream, uint32_t *d
+ 
+         return false;
+     }
+-    
++
+     if ((byte & 0x80) == 0)
+     {
+         /* Quick case, 1 byte value */
+@@ -196,12 +198,12 @@ static bool checkreturn pb_decode_varint32_eof(pb_istream_t *stream, uint32_t *d
+         /* Multibyte case */
+         uint_fast8_t bitpos = 7;
+         result = byte & 0x7F;
+-        
++
+         do
+         {
+             if (!pb_readbyte(stream, &byte))
+                 return false;
+-            
++
+             if (bitpos >= 32)
+             {
+                 /* Note: The varint could have trailing 0x80 bytes, or 0xFF for negative. */
+@@ -229,7 +231,7 @@ static bool checkreturn pb_decode_varint32_eof(pb_istream_t *stream, uint32_t *d
+             bitpos = (uint_fast8_t)(bitpos + 7);
+         } while (byte & 0x80);
+    }
+-   
++
+    *dest = result;
+    return true;
+ }
+@@ -245,7 +247,7 @@ bool checkreturn pb_decode_varint(pb_istream_t *stream, uint64_t *dest)
+     pb_byte_t byte;
+     uint_fast8_t bitpos = 0;
+     uint64_t result = 0;
+-    
++
+     do
+     {
+         if (!pb_readbyte(stream, &byte))
+@@ -257,7 +259,7 @@ bool checkreturn pb_decode_varint(pb_istream_t *stream, uint64_t *dest)
+         result |= (uint64_t)(byte & 0x7F) << bitpos;
+         bitpos = (uint_fast8_t)(bitpos + 7);
+     } while (byte & 0x80);
+-    
++
+     *dest = result;
+     return true;
+ }
+@@ -279,7 +281,7 @@ bool checkreturn pb_skip_string(pb_istream_t *stream)
+     uint32_t length;
+     if (!pb_decode_varint32(stream, &length))
+         return false;
+-    
++
+     if ((size_t)length != length)
+     {
+         PB_RETURN_ERROR(stream, "size too large");
+@@ -294,12 +296,12 @@ bool checkreturn pb_decode_tag(pb_istream_t *stream, pb_wire_type_t *wire_type,
+     *eof = false;
+     *wire_type = (pb_wire_type_t) 0;
+     *tag = 0;
+-    
++
+     if (!pb_decode_varint32_eof(stream, &temp, eof))
+     {
+         return false;
+     }
+-    
++
+     *tag = temp >> 3;
+     *wire_type = (pb_wire_type_t)(temp & 7);
+     return true;
+@@ -337,15 +339,15 @@ static bool checkreturn read_raw_value(pb_istream_t *stream, pb_wire_type_t wire
+                     return false;
+             } while (*buf++ & 0x80);
+             return true;
+-            
++
+         case PB_WT_64BIT:
+             *size = 8;
+             return pb_read(stream, buf, 8);
+-        
++
+         case PB_WT_32BIT:
+             *size = 4;
+             return pb_read(stream, buf, 4);
+-        
++
+         case PB_WT_STRING:
+             /* Calling read_raw_value with a PB_WT_STRING is an error.
+              * Explicitly handle this case and fallthrough to default to avoid
+@@ -364,11 +366,11 @@ bool checkreturn pb_make_string_substream(pb_istream_t *stream, pb_istream_t *su
+     uint32_t size;
+     if (!pb_decode_varint32(stream, &size))
+         return false;
+-    
++
+     *substream = *stream;
+     if (substream->bytes_left < size)
+         PB_RETURN_ERROR(stream, "parent stream too short");
+-    
++
+     substream->bytes_left = (size_t)size;
+     stream->bytes_left -= (size_t)size;
+     return true;
+@@ -470,12 +472,12 @@ static bool checkreturn decode_static_field(pb_istream_t *stream, pb_wire_type_t
+     {
+         case PB_HTYPE_REQUIRED:
+             return decode_basic_field(stream, wire_type, field);
+-            
++
+         case PB_HTYPE_OPTIONAL:
+             if (field->pSize != NULL)
+                 *(bool*)field->pSize = true;
+             return decode_basic_field(stream, wire_type, field);
+-    
++
+         case PB_HTYPE_REPEATED:
+             if (wire_type == PB_WT_STRING
+                 && PB_LTYPE(field->type) <= PB_LTYPE_LAST_PACKABLE)
+@@ -560,12 +562,12 @@ static bool checkreturn decode_static_field(pb_istream_t *stream, pb_wire_type_t
+  * Zero size is not allowed, use pb_free() for releasing.
+  */
+ static bool checkreturn allocate_field(pb_istream_t *stream, void *pData, size_t data_size, size_t array_size)
+-{    
++{
+     void *ptr = *(void**)pData;
+-    
++
+     if (data_size == 0 || array_size == 0)
+         PB_RETURN_ERROR(stream, "invalid size");
+-    
++
+ #ifdef __AVR__
+     /* Workaround for AVR libc bug 53284: http://savannah.nongnu.org/bugs/?53284
+      * Realloc to size of 1 byte can cause corruption of the malloc structures.
+@@ -592,14 +594,14 @@ static bool checkreturn allocate_field(pb_istream_t *stream, void *pData, size_t
+             }
+         }
+     }
+-    
++
+     /* Allocate new or expand previous allocation */
+     /* Note: on failure the old pointer will remain in the structure,
+      * the message must be freed by caller also on error return. */
+     ptr = pb_realloc(ptr, array_size * data_size);
+     if (ptr == NULL)
+         PB_RETURN_ERROR(stream, "realloc failed");
+-    
++
+     *(void**)pData = ptr;
+     return true;
+ }
+@@ -639,7 +641,7 @@ static bool checkreturn decode_pointer_field(pb_istream_t *stream, pb_wire_type_
+                 /* FIXME: Does this work correctly for oneofs? */
+                 pb_release_single_field(field);
+             }
+-        
++
+             if (PB_HTYPE(field->type) == PB_HTYPE_ONEOF)
+             {
+                 *(pb_size_t*)field->pSize = field->tag;
+@@ -656,12 +658,12 @@ static bool checkreturn decode_pointer_field(pb_istream_t *stream, pb_wire_type_
+             {
+                 if (!allocate_field(stream, field->pField, field->data_size, 1))
+                     return false;
+-                
++
+                 field->pData = *(void**)field->pField;
+                 initialize_pointer_field(field->pData, field);
+                 return decode_basic_field(stream, wire_type, field);
+             }
+-    
++
+         case PB_HTYPE_REPEATED:
+             if (wire_type == PB_WT_STRING
+                 && PB_LTYPE(field->type) <= PB_LTYPE_LAST_PACKABLE)
+@@ -671,10 +673,10 @@ static bool checkreturn decode_pointer_field(pb_istream_t *stream, pb_wire_type_
+                 pb_size_t *size = (pb_size_t*)field->pSize;
+                 size_t allocated_size = *size;
+                 pb_istream_t substream;
+-                
++
+                 if (!pb_make_string_substream(stream, &substream))
+                     return false;
+-                
++
+                 while (substream.bytes_left)
+                 {
+                     if (*size == PB_SIZE_MAX)
+@@ -696,7 +698,7 @@ static bool checkreturn decode_pointer_field(pb_istream_t *stream, pb_wire_type_
+                             allocated_size += remain;
+                         else
+                             allocated_size += 1;
+-                        
++
+                         if (!allocate_field(&substream, field->pField, field->data_size, allocated_size))
+                         {
+                             status = false;
+@@ -718,12 +720,12 @@ static bool checkreturn decode_pointer_field(pb_istream_t *stream, pb_wire_type_
+                         status = false;
+                         break;
+                     }
+-                    
++
+                     (*size)++;
+                 }
+                 if (!pb_close_string_substream(stream, &substream))
+                     return false;
+-                
++
+                 return status;
+             }
+             else
+@@ -733,10 +735,10 @@ static bool checkreturn decode_pointer_field(pb_istream_t *stream, pb_wire_type_
+ 
+                 if (*size == PB_SIZE_MAX)
+                     PB_RETURN_ERROR(stream, "too many array entries");
+-                
++
+                 if (!allocate_field(stream, field->pField, field->data_size, (size_t)(*size + 1)))
+                     return false;
+-            
++
+                 field->pData = *(char**)field->pField + field->data_size * (*size);
+                 (*size)++;
+                 initialize_pointer_field(field->pData, field);
+@@ -758,10 +760,10 @@ static bool checkreturn decode_callback_field(pb_istream_t *stream, pb_wire_type
+     {
+         pb_istream_t substream;
+         size_t prev_bytes_left;
+-        
++
+         if (!pb_make_string_substream(stream, &substream))
+             return false;
+-        
++
+         do
+         {
+             prev_bytes_left = substream.bytes_left;
+@@ -771,7 +773,7 @@ static bool checkreturn decode_callback_field(pb_istream_t *stream, pb_wire_type
+                 return false;
+             }
+         } while (substream.bytes_left > 0 && substream.bytes_left < prev_bytes_left);
+-        
++
+         if (!pb_close_string_substream(stream, &substream))
+             return false;
+ 
+@@ -786,11 +788,11 @@ static bool checkreturn decode_callback_field(pb_istream_t *stream, pb_wire_type
+         pb_istream_t substream;
+         pb_byte_t buffer[10];
+         size_t size = sizeof(buffer);
+-        
++
+         if (!read_raw_value(stream, wire_type, buffer, &size))
+             return false;
+         substream = pb_istream_from_buffer(buffer, size);
+-        
++
+         return field->descriptor->field_callback(&substream, NULL, field);
+     }
+ }
+@@ -811,13 +813,13 @@ static bool checkreturn decode_field(pb_istream_t *stream, pb_wire_type_t wire_t
+     {
+         case PB_ATYPE_STATIC:
+             return decode_static_field(stream, wire_type, field);
+-        
++
+         case PB_ATYPE_POINTER:
+             return decode_pointer_field(stream, wire_type, field);
+-        
++
+         case PB_ATYPE_CALLBACK:
+             return decode_callback_field(stream, wire_type, field);
+-        
++
+         default:
+             PB_RETURN_ERROR(stream, "invalid field type");
+     }
+@@ -847,7 +849,7 @@ static bool checkreturn decode_extension(pb_istream_t *stream,
+     uint32_t tag, pb_wire_type_t wire_type, pb_extension_t *extension)
+ {
+     size_t pos = stream->bytes_left;
+-    
++
+     while (extension != NULL && pos == stream->bytes_left)
+     {
+         bool status;
+@@ -858,10 +860,10 @@ static bool checkreturn decode_extension(pb_istream_t *stream,
+ 
+         if (!status)
+             return false;
+-        
++
+         extension = extension->next;
+     }
+-    
++
+     return true;
+ }
+ 
+@@ -1170,12 +1172,12 @@ bool checkreturn pb_decode_ex(pb_istream_t *stream, const pb_msgdesc_t *fields,
+       if (!pb_close_string_substream(stream, &substream))
+         return false;
+     }
+-    
++
+ #ifdef PB_ENABLE_MALLOC
+     if (!status)
+         pb_release(fields, dest_struct);
+ #endif
+-    
++
+     return status;
+ }
+ 
+@@ -1258,7 +1260,7 @@ static void pb_release_single_field(pb_field_iter_t *field)
+     {
+         /* Release fields in submessage or submsg array */
+         pb_size_t count = 1;
+-        
++
+         if (PB_ATYPE(type) == PB_ATYPE_POINTER)
+         {
+             field->pData = *(void**)field->pField;
+@@ -1267,7 +1269,7 @@ static void pb_release_single_field(pb_field_iter_t *field)
+         {
+             field->pData = field->pField;
+         }
+-        
++
+         if (PB_HTYPE(type) == PB_HTYPE_REPEATED)
+         {
+             count = *(pb_size_t*)field->pSize;
+@@ -1278,7 +1280,7 @@ static void pb_release_single_field(pb_field_iter_t *field)
+                 count = field->array_size;
+             }
+         }
+-        
++
+         if (field->pData)
+         {
+             for (; count > 0; count--)
+@@ -1288,7 +1290,7 @@ static void pb_release_single_field(pb_field_iter_t *field)
+             }
+         }
+     }
+-    
++
+     if (PB_ATYPE(type) == PB_ATYPE_POINTER)
+     {
+         if (PB_HTYPE(type) == PB_HTYPE_REPEATED &&
+@@ -1304,13 +1306,13 @@ static void pb_release_single_field(pb_field_iter_t *field)
+                 *pItem++ = NULL;
+             }
+         }
+-        
++
+         if (PB_HTYPE(type) == PB_HTYPE_REPEATED)
+         {
+             /* We are going to release the array, so set the size to 0 */
+             *(pb_size_t*)field->pSize = 0;
+         }
+-        
++
+         /* Release main pointer */
+         pb_free(*(void**)field->pField);
+         *(void**)field->pField = NULL;
+@@ -1320,13 +1322,13 @@ static void pb_release_single_field(pb_field_iter_t *field)
+ void pb_release(const pb_msgdesc_t *fields, void *dest_struct)
+ {
+     pb_field_iter_t iter;
+-    
++
+     if (!dest_struct)
+         return; /* Ignore NULL pointers, similar to free() */
+ 
+     if (!pb_field_iter_begin(&iter, fields, dest_struct))
+         return; /* Empty message type */
+-    
++
+     do
+     {
+         pb_release_single_field(&iter);
+@@ -1358,12 +1360,12 @@ bool pb_decode_svarint(pb_istream_t *stream, pb_int64_t *dest)
+     pb_uint64_t value;
+     if (!pb_decode_varint(stream, &value))
+         return false;
+-    
++
+     if (value & 1)
+         *dest = (pb_int64_t)(~(value >> 1));
+     else
+         *dest = (pb_int64_t)(value >> 1);
+-    
++
+     return true;
+ }
+ 
+@@ -1499,17 +1501,17 @@ static bool checkreturn pb_dec_bytes(pb_istream_t *stream, const pb_field_iter_t
+     uint32_t size;
+     size_t alloc_size;
+     pb_bytes_array_t *dest;
+-    
++
+     if (!pb_decode_varint32(stream, &size))
+         return false;
+-    
++
+     if (size > PB_SIZE_MAX)
+         PB_RETURN_ERROR(stream, "bytes overflow");
+-    
++
+     alloc_size = PB_BYTES_ARRAY_T_ALLOCSIZE(size);
+     if (size > alloc_size)
+         PB_RETURN_ERROR(stream, "size too large");
+-    
++
+     if (PB_ATYPE(field->type) == PB_ATYPE_POINTER)
+     {
+ #ifndef PB_ENABLE_MALLOC
+@@ -1570,7 +1572,7 @@ static bool checkreturn pb_dec_string(pb_istream_t *stream, const pb_field_iter_
+         if (alloc_size > field->data_size)
+             PB_RETURN_ERROR(stream, "string overflow");
+     }
+-    
++
+     dest[size] = 0;
+ 
+     if (!pb_read(stream, dest, (size_t)size))
+@@ -1592,10 +1594,10 @@ static bool checkreturn pb_dec_submessage(pb_istream_t *stream, const pb_field_i
+ 
+     if (!pb_make_string_substream(stream, &substream))
+         return false;
+-    
++
+     if (field->submsg_desc == NULL)
+         PB_RETURN_ERROR(stream, "invalid field descriptor");
+-    
++
+     /* Submessages can have a separate message-level callback that is called
+      * before decoding the message. Typically it is used to set callback fields
+      * inside oneofs. */
+@@ -1629,7 +1631,7 @@ static bool checkreturn pb_dec_submessage(pb_istream_t *stream, const pb_field_i
+ 
+         status = pb_decode_inner(&substream, field->submsg_desc, field->pData, flags);
+     }
+-    
++
+     if (!pb_close_string_substream(stream, &substream))
+         return false;
+ 
+diff --git a/pb_decode.h b/pb_decode.h
+index 3f392b29386e3dbbc69337316eb98029d239690a..c65d8ec716ea7282f68fdc2077a6a11130dd93fc 100644
+--- a/pb_decode.h
++++ b/pb_decode.h
+@@ -1,6 +1,8 @@
+ /* pb_decode.h: Functions to decode protocol buffers. Depends on pb_decode.c.
+  * The main function is pb_decode. You also need an input stream, and the
+  * field descriptions created by nanopb_generator.py.
++ *
++ * Modified for WPILib Use
+  */
+ 
+ #ifndef PB_DECODE_H_INCLUDED
+diff --git a/pb_encode.c b/pb_encode.c
+index f9034a542848f0be0656e2e9eb2b467b2a83cf41..270a721863fd0a218a9667d5f4cadb6fb943c0b9 100644
+--- a/pb_encode.c
++++ b/pb_encode.c
+@@ -1,4 +1,6 @@
+ /* pb_encode.c -- encode a protobuf using minimal resources
++ *
++ * Modified for WPILib Use
+  *
+  * 2011 Petteri Aimonen <jpa@kapsi.fi>
+  */
+@@ -54,9 +56,9 @@ static bool checkreturn buf_write(pb_ostream_t *stream, const pb_byte_t *buf, si
+ {
+     pb_byte_t *dest = (pb_byte_t*)stream->state;
+     stream->state = dest + count;
+-    
++
+     memcpy(dest, buf, count * sizeof(pb_byte_t));
+-    
++
+     return true;
+ }
+ 
+@@ -94,12 +96,12 @@ bool checkreturn pb_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t cou
+ #ifdef PB_BUFFER_ONLY
+         if (!buf_write(stream, buf, count))
+             PB_RETURN_ERROR(stream, "io error");
+-#else        
++#else
+         if (!stream->callback(stream, buf, count))
+             PB_RETURN_ERROR(stream, "io error");
+ #endif
+     }
+-    
++
+     stream->bytes_written += count;
+     return true;
+ }
+@@ -140,14 +142,14 @@ static bool checkreturn encode_array(pb_ostream_t *stream, pb_field_iter_t *fiel
+ 
+     if (PB_ATYPE(field->type) != PB_ATYPE_POINTER && count > field->array_size)
+         PB_RETURN_ERROR(stream, "array max size exceeded");
+-    
++
+ #ifndef PB_ENCODE_ARRAYS_UNPACKED
+     /* We always pack arrays if the datatype allows it. */
+     if (PB_LTYPE(field->type) <= PB_LTYPE_LAST_PACKABLE)
+     {
+         if (!pb_encode_tag(stream, PB_WT_STRING, field->tag))
+             return false;
+-        
++
+         /* Determine the total size of packed array. */
+         if (PB_LTYPE(field->type) == PB_LTYPE_FIXED32)
+         {
+@@ -158,7 +160,7 @@ static bool checkreturn encode_array(pb_ostream_t *stream, pb_field_iter_t *fiel
+             size = 8 * (size_t)count;
+         }
+         else
+-        { 
++        {
+             pb_ostream_t sizestream = PB_OSTREAM_SIZING;
+             void *pData_orig = field->pData;
+             for (i = 0; i < count; i++)
+@@ -170,13 +172,13 @@ static bool checkreturn encode_array(pb_ostream_t *stream, pb_field_iter_t *fiel
+             field->pData = pData_orig;
+             size = sizestream.bytes_written;
+         }
+-        
++
+         if (!pb_encode_varint(stream, (pb_uint64_t)size))
+             return false;
+-        
++
+         if (stream->callback == NULL)
+             return pb_write(stream, NULL, size); /* Just sizing.. */
+-        
++
+         /* Write the data */
+         for (i = 0; i < count; i++)
+         {
+@@ -235,7 +237,7 @@ static bool checkreturn encode_array(pb_ostream_t *stream, pb_field_iter_t *fiel
+             field->pData = (char*)field->pData + field->data_size;
+         }
+     }
+-    
++
+     return true;
+ }
+ 
+@@ -498,10 +500,10 @@ static bool checkreturn encode_extension_field(pb_ostream_t *stream, const pb_fi
+ 
+         if (!status)
+             return false;
+-        
++
+         extension = extension->next;
+     }
+-    
++
+     return true;
+ }
+ 
+@@ -514,7 +516,7 @@ bool checkreturn pb_encode(pb_ostream_t *stream, const pb_msgdesc_t *fields, con
+     pb_field_iter_t iter;
+     if (!pb_field_iter_begin_const(&iter, fields, src_struct))
+         return true; /* Empty message type */
+-    
++
+     do {
+         if (PB_LTYPE(iter.type) == PB_LTYPE_EXTENSION)
+         {
+@@ -529,7 +531,7 @@ bool checkreturn pb_encode(pb_ostream_t *stream, const pb_msgdesc_t *fields, con
+                 return false;
+         }
+     } while (pb_field_iter_next(&iter));
+-    
++
+     return true;
+ }
+ 
+@@ -557,10 +559,10 @@ bool checkreturn pb_encode_ex(pb_ostream_t *stream, const pb_msgdesc_t *fields,
+ bool pb_get_encoded_size(size_t *size, const pb_msgdesc_t *fields, const void *src_struct)
+ {
+     pb_ostream_t stream = PB_OSTREAM_SIZING;
+-    
++
+     if (!pb_encode(&stream, fields, src_struct))
+         return false;
+-    
++
+     *size = stream.bytes_written;
+     return true;
+ }
+@@ -630,7 +632,7 @@ bool checkreturn pb_encode_svarint(pb_ostream_t *stream, pb_int64_t value)
+         zigzagged = ~(((pb_uint64_t)value & mask) << 1);
+     else
+         zigzagged = (pb_uint64_t)value << 1;
+-    
++
+     return pb_encode_varint(stream, zigzagged);
+ }
+ 
+@@ -689,15 +691,15 @@ bool pb_encode_tag_for_field ( pb_ostream_t* stream, const pb_field_iter_t* fiel
+         case PB_LTYPE_SVARINT:
+             wiretype = PB_WT_VARINT;
+             break;
+-        
++
+         case PB_LTYPE_FIXED32:
+             wiretype = PB_WT_32BIT;
+             break;
+-        
++
+         case PB_LTYPE_FIXED64:
+             wiretype = PB_WT_64BIT;
+             break;
+-        
++
+         case PB_LTYPE_BYTES:
+         case PB_LTYPE_STRING:
+         case PB_LTYPE_SUBMESSAGE:
+@@ -705,11 +707,11 @@ bool pb_encode_tag_for_field ( pb_ostream_t* stream, const pb_field_iter_t* fiel
+         case PB_LTYPE_FIXED_LENGTH_BYTES:
+             wiretype = PB_WT_STRING;
+             break;
+-        
++
+         default:
+             PB_RETURN_ERROR(stream, "invalid field type");
+     }
+-    
++
+     return pb_encode_tag(stream, wiretype, field->tag);
+ }
+ 
+@@ -717,7 +719,7 @@ bool checkreturn pb_encode_string(pb_ostream_t *stream, const pb_byte_t *buffer,
+ {
+     if (!pb_encode_varint(stream, (pb_uint64_t)size))
+         return false;
+-    
++
+     return pb_write(stream, buffer, size);
+ }
+ 
+@@ -727,7 +729,7 @@ bool checkreturn pb_encode_submessage(pb_ostream_t *stream, const pb_msgdesc_t *
+     pb_ostream_t substream = PB_OSTREAM_SIZING;
+     size_t size;
+     bool status;
+-    
++
+     if (!pb_encode(&substream, fields, src_struct))
+     {
+ #ifndef PB_NO_ERRMSG
+@@ -735,18 +737,18 @@ bool checkreturn pb_encode_submessage(pb_ostream_t *stream, const pb_msgdesc_t *
+ #endif
+         return false;
+     }
+-    
++
+     size = substream.bytes_written;
+-    
++
+     if (!pb_encode_varint(stream, (pb_uint64_t)size))
+         return false;
+-    
++
+     if (stream->callback == NULL)
+         return pb_write(stream, NULL, size); /* Just sizing */
+-    
++
+     if (stream->bytes_written + size > stream->max_size)
+         PB_RETURN_ERROR(stream, "stream full");
+-        
++
+     /* Use a substream to verify that a callback doesn't write more than
+      * what it did the first time. */
+     substream.callback = stream->callback;
+@@ -756,18 +758,18 @@ bool checkreturn pb_encode_submessage(pb_ostream_t *stream, const pb_msgdesc_t *
+ #ifndef PB_NO_ERRMSG
+     substream.errmsg = NULL;
+ #endif
+-    
++
+     status = pb_encode(&substream, fields, src_struct);
+-    
++
+     stream->bytes_written += substream.bytes_written;
+     stream->state = substream.state;
+ #ifndef PB_NO_ERRMSG
+     stream->errmsg = substream.errmsg;
+ #endif
+-    
++
+     if (substream.bytes_written != size)
+         PB_RETURN_ERROR(stream, "submsg size changed");
+-    
++
+     return status;
+ }
+ 
+@@ -858,19 +860,19 @@ static bool checkreturn pb_enc_bytes(pb_ostream_t *stream, const pb_field_iter_t
+     const pb_bytes_array_t *bytes = NULL;
+ 
+     bytes = (const pb_bytes_array_t*)field->pData;
+-    
++
+     if (bytes == NULL)
+     {
+         /* Treat null pointer as an empty bytes field */
+         return pb_encode_string(stream, NULL, 0);
+     }
+-    
++
+     if (PB_ATYPE(field->type) == PB_ATYPE_STATIC &&
+         bytes->size > field->data_size - offsetof(pb_bytes_array_t, bytes))
+     {
+         PB_RETURN_ERROR(stream, "bytes size exceeded");
+     }
+-    
++
+     return pb_encode_string(stream, bytes->bytes, (size_t)bytes->size);
+ }
+ 
+@@ -879,7 +881,7 @@ static bool checkreturn pb_enc_string(pb_ostream_t *stream, const pb_field_iter_
+     size_t size = 0;
+     size_t max_size = (size_t)field->data_size;
+     const char *str = (const char*)field->pData;
+-    
++
+     if (PB_ATYPE(field->type) == PB_ATYPE_POINTER)
+     {
+         max_size = (size_t)-1;
+@@ -942,7 +944,7 @@ static bool checkreturn pb_enc_submessage(pb_ostream_t *stream, const pb_field_i
+                 return false;
+         }
+     }
+-    
++
+     return pb_encode_submessage(stream, field->submsg_desc, field->pData);
+ }
+ 
+diff --git a/pb_encode.h b/pb_encode.h
+index 6dc089da307a10a6d440e70acb2775ed6e7fb07c..22491a7f5e0d787e3c62b0a45dbae31a3c191f58 100644
+--- a/pb_encode.h
++++ b/pb_encode.h
+@@ -1,6 +1,8 @@
+ /* pb_encode.h: Functions to encode protocol buffers. Depends on pb_encode.c.
+  * The main function is pb_encode. You also need an output stream, and the
+  * field descriptions created by nanopb_generator.py.
++ *
++ * Modified for WPILib Use
+  */
+ 
+ #ifndef PB_ENCODE_H_INCLUDED

upstream_utils/nanopb_patches/0002-Remove-extern-C.patch

@@ -0,0 +1,188 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Thad House <thadhouse1@gmail.com>
+Date: Mon, 28 Oct 2024 16:58:15 -0700
+Subject: [PATCH 2/4] Remove extern C
+
+---
+ generator/nanopb_generator.py |  8 --------
+ pb.h                          |  8 --------
+ pb_common.h                   |  9 ---------
+ pb_decode.h                   | 16 ++++------------
+ pb_encode.h                   | 12 ++----------
+ 5 files changed, 6 insertions(+), 47 deletions(-)
+
+diff --git a/generator/nanopb_generator.py b/generator/nanopb_generator.py
+index 735e4b7b31cdb66a1cdfbd2da6ae8fcde5986147..239aed4f379b5d454e3b65c48ca11e9f92b6bc4d 100755
+--- a/generator/nanopb_generator.py
++++ b/generator/nanopb_generator.py
+@@ -2086,10 +2086,6 @@ class ProtoFile:
+                 yield extension.extension_decl()
+             yield '\n'
+ 
+-        yield '#ifdef __cplusplus\n'
+-        yield 'extern "C" {\n'
+-        yield '#endif\n\n'
+-
+         if self.enums:
+                 yield '/* Helper constants for enums */\n'
+                 for enum in self.enums:
+@@ -2224,10 +2220,6 @@ class ProtoFile:
+                 yield '#define %s %s\n' % (longname, shortname)
+             yield '\n'
+ 
+-        yield '#ifdef __cplusplus\n'
+-        yield '} /* extern "C" */\n'
+-        yield '#endif\n'
+-
+         if options.cpp_descriptors:
+             yield '\n'
+             yield '#ifdef __cplusplus\n'
+diff --git a/pb.h b/pb.h
+index cec078fe40d526712eda771db077ebf31c95e076..a7fd771f05d7182e73ab346b46294c6fc5ac44c7 100644
+--- a/pb.h
++++ b/pb.h
+@@ -94,10 +94,6 @@
+ #endif
+ #endif
+ 
+-#ifdef __cplusplus
+-extern "C" {
+-#endif
+-
+ /* Macro for defining packed structures (compiler dependent).
+  * This just reduces memory requirements, but is not required.
+  */
+@@ -895,10 +891,6 @@ struct pb_extension_s {
+ 
+ #define PB_RETURN_ERROR(stream, msg) return PB_SET_ERROR(stream, msg), false
+ 
+-#ifdef __cplusplus
+-} /* extern "C" */
+-#endif
+-
+ #ifdef __cplusplus
+ #if __cplusplus >= 201103L
+ #define PB_CONSTEXPR constexpr
+diff --git a/pb_common.h b/pb_common.h
+index d1d8bf55b13412887ab6d8fc6cfaf51348da9605..f08a87389b89e6d73468fd0d8e58af7f998cbbf3 100644
+--- a/pb_common.h
++++ b/pb_common.h
+@@ -9,10 +9,6 @@
+ 
+ #include "pb.h"
+ 
+-#ifdef __cplusplus
+-extern "C" {
+-#endif
+-
+ /* Initialize the field iterator structure to beginning.
+  * Returns false if the message type is empty. */
+ bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_msgdesc_t *desc, void *message);
+@@ -43,9 +39,4 @@ bool pb_field_iter_find_extension(pb_field_iter_t *iter);
+ bool pb_validate_utf8(const char *s);
+ #endif
+ 
+-#ifdef __cplusplus
+-} /* extern "C" */
+ #endif
+-
+-#endif
+-
+diff --git a/pb_decode.h b/pb_decode.h
+index c65d8ec716ea7282f68fdc2077a6a11130dd93fc..a96f18169127c3d2cd80ba89138421f2340b1fe2 100644
+--- a/pb_decode.h
++++ b/pb_decode.h
+@@ -10,14 +10,10 @@
+ 
+ #include "pb.h"
+ 
+-#ifdef __cplusplus
+-extern "C" {
+-#endif
+-
+ /* Structure for defining custom input streams. You will need to provide
+  * a callback function to read the bytes from your storage, which can be
+  * for example a file or a network socket.
+- * 
++ *
+  * The callback must conform to these rules:
+  *
+  * 1) Return false on IO errors. This will cause decoding to abort.
+@@ -51,7 +47,7 @@ struct pb_istream_s
+      * denial-of-service by excessively long messages.
+      */
+     size_t bytes_left;
+-    
++
+ #ifndef PB_NO_ERRMSG
+     /* Pointer to constant (ROM) string when decoding function returns error */
+     const char *errmsg;
+@@ -67,7 +63,7 @@ struct pb_istream_s
+ /***************************
+  * Main decoding functions *
+  ***************************/
+- 
++
+ /* Decode a single protocol buffers message from input stream into a C structure.
+  * Returns true on success, false on any failure.
+  * The actual struct pointed to by dest must match the description in fields.
+@@ -78,7 +74,7 @@ struct pb_istream_s
+  *    MyMessage msg = {};
+  *    uint8_t buffer[64];
+  *    pb_istream_t stream;
+- *    
++ *
+  *    // ... read some data into buffer ...
+  *
+  *    stream = pb_istream_from_buffer(buffer, count);
+@@ -199,8 +195,4 @@ bool pb_decode_double_as_float(pb_istream_t *stream, float *dest);
+ bool pb_make_string_substream(pb_istream_t *stream, pb_istream_t *substream);
+ bool pb_close_string_substream(pb_istream_t *stream, pb_istream_t *substream);
+ 
+-#ifdef __cplusplus
+-} /* extern "C" */
+-#endif
+-
+ #endif
+diff --git a/pb_encode.h b/pb_encode.h
+index 22491a7f5e0d787e3c62b0a45dbae31a3c191f58..961bde1e3542392c1da6ea64cd15904af6289d22 100644
+--- a/pb_encode.h
++++ b/pb_encode.h
+@@ -10,10 +10,6 @@
+ 
+ #include "pb.h"
+ 
+-#ifdef __cplusplus
+-extern "C" {
+-#endif
+-
+ /* Structure for defining custom output streams. You will need to provide
+  * a callback function to write the bytes to your storage, which can be
+  * for example a file or a network socket.
+@@ -51,7 +47,7 @@ struct pb_ostream_s
+ 
+     /* Number of bytes written so far. */
+     size_t bytes_written;
+-    
++
+ #ifndef PB_NO_ERRMSG
+     /* Pointer to constant (ROM) string when decoding function returns error */
+     const char *errmsg;
+@@ -117,7 +113,7 @@ pb_ostream_t pb_ostream_from_buffer(pb_byte_t *buf, size_t bufsize);
+ 
+ /* Pseudo-stream for measuring the size of a message without actually storing
+  * the encoded data.
+- * 
++ *
+  * Example usage:
+  *    MyMessage msg = {};
+  *    pb_ostream_t stream = PB_OSTREAM_SIZING;
+@@ -190,8 +186,4 @@ bool pb_encode_float_as_double(pb_ostream_t *stream, float value);
+  */
+ bool pb_encode_submessage(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct);
+ 
+-#ifdef __cplusplus
+-} /* extern "C" */
+-#endif
+-
+ #endif

upstream_utils/nanopb_patches/0003-Generate-messages-or-anything-non-static-as-callback.patch

@@ -0,0 +1,28 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Thad House <thadhouse1@gmail.com>
+Date: Tue, 29 Oct 2024 20:23:48 -0700
+Subject: [PATCH 3/4] Generate messages or anything non static as callback
+
+---
+ generator/nanopb_generator.py | 6 ++++--
+ 1 file changed, 4 insertions(+), 2 deletions(-)
+
+diff --git a/generator/nanopb_generator.py b/generator/nanopb_generator.py
+index 239aed4f379b5d454e3b65c48ca11e9f92b6bc4d..3b59ba59e6fc997350b1368a2faebc051cd6176a 100755
+--- a/generator/nanopb_generator.py
++++ b/generator/nanopb_generator.py
+@@ -683,10 +683,12 @@ class Field(ProtoElement):
+ 
+         # Decide how the field data will be allocated
+         if field_options.type == nanopb_pb2.FT_DEFAULT:
+-            if can_be_static:
++            if desc.type == FieldD.TYPE_MESSAGE:
++                field_options.type = nanopb_pb2.FT_CALLBACK
++            elif can_be_static:
+                 field_options.type = nanopb_pb2.FT_STATIC
+             else:
+-                field_options.type = field_options.fallback_type
++                field_options.type = nanopb_pb2.FT_CALLBACK
+ 
+         if field_options.type == nanopb_pb2.FT_STATIC and not can_be_static:
+             raise Exception("Field '%s' is defined as static, but max_size or "

upstream_utils/nanopb_patches/0004-Generate-as-cpp-and-add-wpilib-requirements.patch

@@ -0,0 +1,170 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Thad House <thadhouse1@gmail.com>
+Date: Sat, 2 Nov 2024 20:25:45 -0700
+Subject: [PATCH 4/4] Generate as cpp and add wpilib requirements
+
+---
+ generator/nanopb_generator.py | 43 +++++++++++++++++++++++++++--------
+ pb.h                          | 23 +++++++++++++++----
+ 2 files changed, 52 insertions(+), 14 deletions(-)
+
+diff --git a/generator/nanopb_generator.py b/generator/nanopb_generator.py
+index 3b59ba59e6fc997350b1368a2faebc051cd6176a..01fc349538aec0c67ec3fd9bfaf3a356adc08e96 100755
+--- a/generator/nanopb_generator.py
++++ b/generator/nanopb_generator.py
+@@ -1406,6 +1406,12 @@ class Message(ProtoElement):
+ 
+         result += '\n'
+ 
++        result += '    static const pb_msgdesc_t* msg_descriptor(void) noexcept;\n'
++        result += '    static std::string_view msg_name(void) noexcept;\n'
++        result += '    static pb_filedesc_t file_descriptor(void) noexcept;\n'
++
++        result += '\n'
++
+         if not self.fields:
+             # Empty structs are not allowed in C standard.
+             # Therefore add a dummy field if an empty message occurs.
+@@ -2046,6 +2052,8 @@ class ProtoFile:
+             # no %s specified - use whatever was passed in as options.libformat
+             yield options.libformat
+         yield '\n'
++        yield "#include <span>\n"
++        yield "#include <string_view>\n"
+ 
+         for incfile in self.file_options.include:
+             # allow including system headers
+@@ -2126,16 +2134,6 @@ class ProtoFile:
+             yield '/* Struct field encoding specification for nanopb */\n'
+             for msg in self.messages:
+                 yield msg.fields_declaration(self.dependencies) + '\n'
+-            for msg in self.messages:
+-                yield 'extern const pb_msgdesc_t %s_msg;\n' % Globals.naming_style.type_name(msg.name)
+-            yield '\n'
+-
+-            yield '/* Defines for backwards compatibility with code written before nanopb-0.4.0 */\n'
+-            for msg in self.messages:
+-              yield '#define %s &%s_msg\n' % (
+-                Globals.naming_style.define_name('%s_fields' % msg.name),
+-                Globals.naming_style.type_name(msg.name))
+-            yield '\n'
+ 
+             yield '/* Maximum encoded size of messages (where known) */\n'
+             messagesizes = []
+@@ -2259,6 +2257,24 @@ class ProtoFile:
+         yield '#endif\n'
+         yield '\n'
+ 
++        yield "#include <span>\n"
++        yield "#include <string_view>\n"
++
++        yield "static const uint8_t file_descriptor[] {\n"
++
++        line_count = 0
++
++        for b in self.fdesc.SerializeToString():
++            yield '0x' + format(b, '02x') + ','
++            line_count += 1
++            if line_count == 10:
++                yield '\n'
++                line_count = 0
++        yield '\n'
++
++        yield "};\n"
++        yield 'static const char file_name[] = "%s";\n' % self.fdesc.name
++
+         # Check if any messages exceed the 64 kB limit of 16-bit pb_size_t
+         exceeds_64kB = []
+         for msg in self.messages:
+@@ -2275,6 +2291,13 @@ class ProtoFile:
+ 
+         # Generate the message field definitions (PB_BIND() call)
+         for msg in self.messages:
++            if self.fdesc.package:
++                full_name = self.fdesc.package + '.' + msg.desc.name
++            else:
++                full_name = msg.desc.name
++            yield 'static const char %s_name[] = "%s";\n' % (msg.name, full_name)
++            yield 'std::string_view %s::msg_name(void) noexcept { return %s_name; }\n' % (msg.name, msg.name)
++            yield 'pb_filedesc_t %s::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }\n' % msg.name
+             yield msg.fields_definition(self.dependencies) + '\n\n'
+ 
+         # Generate pb_extension_type_t definitions if extensions are used in proto file
+diff --git a/pb.h b/pb.h
+index a7fd771f05d7182e73ab346b46294c6fc5ac44c7..832364a60900cbcb9134b6e122576436a6df6a00 100644
+--- a/pb.h
++++ b/pb.h
+@@ -89,6 +89,9 @@
+ #include <string.h>
+ #include <limits.h>
+ 
++#include <span>
++#include <string_view>
++
+ #ifdef PB_ENABLE_MALLOC
+ #include <stdlib.h>
+ #endif
+@@ -315,6 +318,12 @@ typedef struct pb_istream_s pb_istream_t;
+ typedef struct pb_ostream_s pb_ostream_t;
+ typedef struct pb_field_iter_s pb_field_iter_t;
+ 
++typedef struct pb_filedesc_s pb_filedesc_t;
++struct pb_filedesc_s {
++    std::string_view file_name;
++    std::span<const uint8_t> file_descriptor;
++};
++
+ /* This structure is used in auto-generated constants
+  * to specify struct fields.
+  */
+@@ -329,6 +338,9 @@ struct pb_msgdesc_s {
+     pb_size_t field_count;
+     pb_size_t required_field_count;
+     pb_size_t largest_tag;
++
++    pb_filedesc_t file_descriptor;
++    std::string_view proto_name;
+ };
+ 
+ /* Iterator for message descriptor */
+@@ -501,17 +513,17 @@ struct pb_extension_s {
+ 
+ /* Binding of a message field set into a specific structure */
+ #define PB_BIND(msgname, structname, width) \
+-    const uint32_t structname ## _field_info[] PB_PROGMEM = \
++    static const uint32_t structname ## _field_info[] PB_PROGMEM = \
+     { \
+         msgname ## _FIELDLIST(PB_GEN_FIELD_INFO_ ## width, structname) \
+         0 \
+     }; \
+-    const pb_msgdesc_t* const structname ## _submsg_info[] = \
++    static const pb_msgdesc_t* const structname ## _submsg_info[] = \
+     { \
+         msgname ## _FIELDLIST(PB_GEN_SUBMSG_INFO, structname) \
+         NULL \
+     }; \
+-    const pb_msgdesc_t structname ## _msg = \
++    static const pb_msgdesc_t structname ## _msg = \
+     { \
+        structname ## _field_info, \
+        structname ## _submsg_info, \
+@@ -520,7 +532,10 @@ struct pb_extension_s {
+        0 msgname ## _FIELDLIST(PB_GEN_FIELD_COUNT, structname), \
+        0 msgname ## _FIELDLIST(PB_GEN_REQ_FIELD_COUNT, structname), \
+        0 msgname ## _FIELDLIST(PB_GEN_LARGEST_TAG, structname), \
++       structname::file_descriptor(), \
++       structname::msg_name(),  \
+     }; \
++    const pb_msgdesc_t* structname::msg_descriptor(void) noexcept { return &(structname ## _msg); } \
+     msgname ## _FIELDLIST(PB_GEN_FIELD_INFO_ASSERT_ ## width, structname)
+ 
+ #define PB_GEN_FIELD_COUNT(structname, atype, htype, ltype, fieldname, tag) +1
+@@ -726,7 +741,7 @@ struct pb_extension_s {
+ #define PB_SI_PB_LTYPE_UINT64(t)
+ #define PB_SI_PB_LTYPE_EXTENSION(t)
+ #define PB_SI_PB_LTYPE_FIXED_LENGTH_BYTES(t)
+-#define PB_SUBMSG_DESCRIPTOR(t)    &(t ## _msg),
++#define PB_SUBMSG_DESCRIPTOR(t)    (t::msg_descriptor()),
+ 
+ /* The field descriptors use a variable width format, with width of either
+  * 1, 2, 4 or 8 of 32-bit words. The two lowest bytes of the first byte always

wpimath/.styleguide

@@ -22,6 +22,7 @@ generatedFileExclude {
   src/test/native/cpp/drake/
   src/test/native/include/drake/
   src/generated/main/java/edu/wpi/first/math/proto
+  src/generated/main/native/cpp
 }
 
 repoRootNameOverride {

wpimath/CMakeLists.txt

@@ -4,13 +4,6 @@ include(SubDirList)
 include(CompileWarnings)
 include(AddTest)
 include(DownloadAndCheck)
-include(WpiProtobuf)
-
-if(WITH_PROTOBUF)
-    # workaround for makefiles - for some reason parent directories aren't created.
-    file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/protobuf")
-    file(GLOB wpimath_proto_src src/main/proto/*.proto)
-endif()
 
 file(
     GLOB wpimath_jni_src
@@ -122,49 +115,36 @@ file(
     src/main/native/thirdparty/sleipnir/src/*.cpp
 )
 list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
-if(NOT WITH_PROTOBUF)
-    list(FILTER wpimath_native_src EXCLUDE REGEX "/proto/")
-endif()
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
 
-if(WITH_PROTOBUF)
-    add_library(protobuf OBJECT)
-    target_link_libraries(protobuf wpiutil)
+file(GLOB_RECURSE wpimath_protobuf_native_src src/generated/main/native/cpp/wpimath/protobuf/*.cpp)
 
-    add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
+add_library(protobuf OBJECT ${wpimath_protobuf_native_src})
+target_link_libraries(protobuf wpiutil)
 
-    wpi_protobuf_generate(
-        TARGET
-        protobuf
-        PROTOS ${wpimath_proto_src}
-        PLUGIN ${PROTOC_WPILIB_PLUGIN}
-        PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/protobuf"
+add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
+
+if(MSVC)
+    get_property(IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
+    set(CONFIG_SUFFIX "$<$<BOOL:${IS_MULTI_CONFIG}>:_$<CONFIG>>")
+    file(
+        GENERATE OUTPUT
+        ${CMAKE_CURRENT_BINARY_DIR}/protobuf_objects${CONFIG_SUFFIX}.txt
+        CONTENT $<LIST:JOIN,$<TARGET_OBJECTS:protobuf>,\n>
     )
-    if(MSVC)
-        get_property(IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
-        set(CONFIG_SUFFIX "$<$<BOOL:${IS_MULTI_CONFIG}>:_$<CONFIG>>")
-        file(
-            GENERATE OUTPUT
+    add_custom_command(
+        TARGET wpimath
+        PRE_LINK
+        COMMAND
+            cmake -E __create_def ${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports${CONFIG_SUFFIX}.def
             ${CMAKE_CURRENT_BINARY_DIR}/protobuf_objects${CONFIG_SUFFIX}.txt
-            CONTENT $<LIST:JOIN,$<TARGET_OBJECTS:protobuf>,\n>
-        )
-        add_custom_command(
-            TARGET wpimath
-            PRE_LINK
-            COMMAND
-                cmake -E __create_def
-                ${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports${CONFIG_SUFFIX}.def
-                ${CMAKE_CURRENT_BINARY_DIR}/protobuf_objects${CONFIG_SUFFIX}.txt
-        )
-        target_link_options(
-            wpimath
-            PRIVATE
-                /DEF:$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports${CONFIG_SUFFIX}.def>
-        )
-    endif()
-else()
-    add_library(wpimath ${wpimath_native_src})
+    )
+    target_link_options(
+        wpimath
+        PRIVATE
+            /DEF:$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports${CONFIG_SUFFIX}.def>
+    )
 endif()
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
@@ -177,14 +157,6 @@ target_compile_features(wpimath PUBLIC cxx_std_20)
 if(MSVC)
     target_compile_options(wpimath PUBLIC /utf-8 /bigobj)
 endif()
-
-if(WITH_PROTOBUF)
-    target_compile_features(protobuf PUBLIC cxx_std_20)
-    if(MSVC)
-        target_compile_options(protobuf PUBLIC /utf-8 /bigobj)
-    endif()
-endif()
-
 wpilib_target_warnings(wpimath)
 target_link_libraries(wpimath wpiutil)
 
@@ -222,7 +194,7 @@ target_include_directories(
     wpimath
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/protobuf>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/native/cpp>
         $<INSTALL_INTERFACE:${include_dest}/wpimath>
 )
 

wpimath/build.gradle

@@ -21,6 +21,15 @@ ext {
                             'src/main/native/thirdparty/sleipnir/src'
                 }
             }
+            nanopbCpp(CppSourceSet) {
+                source {
+                    srcDirs 'src/generated/main/native/cpp'
+                    include '**/*.cpp'
+                }
+                exportedHeaders {
+                    srcDirs 'src/generated/main/native/cpp'
+                }
+            }
         }
     }
 }
@@ -38,6 +47,10 @@ cppHeadersZip {
         into '/wpimath/protobuf'
         include '*.h'
     }
+    from("src/generated/main/native/cpp/wpimath/protobuf") {
+        into '/wpimath/protobuf'
+        include '**/*.h'
+    }
     from('src/main/native/thirdparty/sleipnir/include') {
         into '/'
     }
@@ -53,7 +66,8 @@ model {
                     srcDirs 'src/main/native/include',
                             'src/main/native/thirdparty/eigen/include',
                             'src/main/native/thirdparty/gcem/include',
-                            'src/main/native/thirdparty/sleipnir/include'
+                            'src/main/native/thirdparty/sleipnir/include',
+                            'src/generated/main/native/cpp'
                 }
             }
         }
@@ -68,7 +82,7 @@ model {
 nativeUtils.exportsConfigs {
     wpimath {
         objectFilterClosure = { file ->
-            return file.name.endsWith('.pb.obj')
+            return file.name.endsWith('.pb.obj') || file.name.endsWith('.npb.obj')
         }
     }
 }

wpimath/generate_nanopb.py

@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+
+import argparse
+import os
+import shutil
+import subprocess
+import sys
+from pathlib import Path
+
+
+def generate_nanopb(nanopb: Path, output_directory: Path, proto_dir: Path):
+    shutil.rmtree(output_directory.absolute(), ignore_errors=True)
+    os.makedirs(output_directory.absolute())
+
+    proto_files = proto_dir.glob("*.proto")
+    for path in proto_files:
+        absolute_filename = path.absolute()
+        subprocess.run(
+            [
+                sys.executable,
+                nanopb,
+                f"-I{absolute_filename.parent}",
+                f"-D{output_directory.absolute()}",
+                "-S.cpp",
+                "-e.npb",
+                absolute_filename,
+            ],
+            check=True,
+        )
+    java_files = (output_directory).glob("*")
+    for java_file in java_files:
+        with (java_file).open(encoding="utf-8") as f:
+            content = f.read()
+
+        java_file.write_text(
+            "// Copyright (c) FIRST and other WPILib contributors.\n// Open Source Software; you can modify and/or share it under the terms of\n// the WPILib BSD license file in the root directory of this project.\n"
+            + content,
+            encoding="utf-8",
+            newline="\n",
+        )
+
+
+def main():
+    script_path = Path(__file__).resolve()
+    dirname = script_path.parent
+
+    root_path = dirname.parent
+    nanopb_path = os.path.join(
+        root_path,
+        "wpiutil",
+        "src",
+        "main",
+        "native",
+        "thirdparty",
+        "nanopb",
+        "generator",
+        "nanopb_generator.py",
+    )
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--nanopb",
+        help="Nanopb generator command",
+        default=nanopb_path,
+    )
+    parser.add_argument(
+        "--output_directory",
+        help="Optional. If set, will output the generated files to this directory, otherwise it will use a path relative to the script",
+        default=dirname / "src/generated/main/native/cpp/wpimath/protobuf",
+        type=Path,
+    )
+    parser.add_argument(
+        "--proto_directory",
+        help="Optional. If set, will use this directory to glob for protobuf files",
+        default=dirname / "src/main/proto",
+        type=Path,
+    )
+    args = parser.parse_args()
+
+    generate_nanopb(args.nanopb, args.output_directory, args.proto_directory)
+
+
+if __name__ == "__main__":
+    main()

wpimath/src/generated/main/native/cpp/wpimath/protobuf/controller.npb.cpp

@@ -0,0 +1,245 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.9 */
+
+#include "controller.npb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+#include <span>
+#include <string_view>
+static const uint8_t file_descriptor[] {
+0x0a,0x10,0x63,0x6f,0x6e,0x74,0x72,0x6f,0x6c,0x6c,
+0x65,0x72,0x2e,0x70,0x72,0x6f,0x74,0x6f,0x12,0x09,
+0x77,0x70,0x69,0x2e,0x70,0x72,0x6f,0x74,0x6f,0x22,
+0x68,0x0a,0x16,0x50,0x72,0x6f,0x74,0x6f,0x62,0x75,
+0x66,0x41,0x72,0x6d,0x46,0x65,0x65,0x64,0x66,0x6f,
+0x72,0x77,0x61,0x72,0x64,0x12,0x0e,0x0a,0x02,0x6b,
+0x73,0x18,0x01,0x20,0x01,0x28,0x01,0x52,0x02,0x6b,
+0x73,0x12,0x0e,0x0a,0x02,0x6b,0x67,0x18,0x02,0x20,
+0x01,0x28,0x01,0x52,0x02,0x6b,0x67,0x12,0x0e,0x0a,
+0x02,0x6b,0x76,0x18,0x03,0x20,0x01,0x28,0x01,0x52,
+0x02,0x6b,0x76,0x12,0x0e,0x0a,0x02,0x6b,0x61,0x18,
+0x04,0x20,0x01,0x28,0x01,0x52,0x02,0x6b,0x61,0x12,
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+0x02,0x01,0x12,0x03,0x26,0x02,0x13,0x0a,0x0c,0x0a,
+0x05,0x04,0x04,0x02,0x01,0x05,0x12,0x03,0x26,0x02,
+0x08,0x0a,0x0c,0x0a,0x05,0x04,0x04,0x02,0x01,0x01,
+0x12,0x03,0x26,0x09,0x0e,0x0a,0x0c,0x0a,0x05,0x04,
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+0x06,0x70,0x72,0x6f,0x74,0x6f,0x33,
+};
+static const char file_name[] = "controller.proto";
+static const char wpi_proto_ProtobufArmFeedforward_name[] = "wpi.proto.ProtobufArmFeedforward";
+std::string_view wpi_proto_ProtobufArmFeedforward::msg_name(void) noexcept { return wpi_proto_ProtobufArmFeedforward_name; }
+pb_filedesc_t wpi_proto_ProtobufArmFeedforward::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufArmFeedforward, wpi_proto_ProtobufArmFeedforward, AUTO)
+
+
+static const char wpi_proto_ProtobufDifferentialDriveFeedforward_name[] = "wpi.proto.ProtobufDifferentialDriveFeedforward";
+std::string_view wpi_proto_ProtobufDifferentialDriveFeedforward::msg_name(void) noexcept { return wpi_proto_ProtobufDifferentialDriveFeedforward_name; }
+pb_filedesc_t wpi_proto_ProtobufDifferentialDriveFeedforward::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufDifferentialDriveFeedforward, wpi_proto_ProtobufDifferentialDriveFeedforward, AUTO)
+
+
+static const char wpi_proto_ProtobufElevatorFeedforward_name[] = "wpi.proto.ProtobufElevatorFeedforward";
+std::string_view wpi_proto_ProtobufElevatorFeedforward::msg_name(void) noexcept { return wpi_proto_ProtobufElevatorFeedforward_name; }
+pb_filedesc_t wpi_proto_ProtobufElevatorFeedforward::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufElevatorFeedforward, wpi_proto_ProtobufElevatorFeedforward, AUTO)
+
+
+static const char wpi_proto_ProtobufSimpleMotorFeedforward_name[] = "wpi.proto.ProtobufSimpleMotorFeedforward";
+std::string_view wpi_proto_ProtobufSimpleMotorFeedforward::msg_name(void) noexcept { return wpi_proto_ProtobufSimpleMotorFeedforward_name; }
+pb_filedesc_t wpi_proto_ProtobufSimpleMotorFeedforward::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufSimpleMotorFeedforward, wpi_proto_ProtobufSimpleMotorFeedforward, AUTO)
+
+
+static const char wpi_proto_ProtobufDifferentialDriveWheelVoltages_name[] = "wpi.proto.ProtobufDifferentialDriveWheelVoltages";
+std::string_view wpi_proto_ProtobufDifferentialDriveWheelVoltages::msg_name(void) noexcept { return wpi_proto_ProtobufDifferentialDriveWheelVoltages_name; }
+pb_filedesc_t wpi_proto_ProtobufDifferentialDriveWheelVoltages::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufDifferentialDriveWheelVoltages, wpi_proto_ProtobufDifferentialDriveWheelVoltages, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

wpimath/src/generated/main/native/cpp/wpimath/protobuf/controller.npb.h

@@ -0,0 +1,158 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.9 */
+
+#ifndef PB_WPI_PROTO_CONTROLLER_NPB_H_INCLUDED
+#define PB_WPI_PROTO_CONTROLLER_NPB_H_INCLUDED
+#include <pb.h>
+#include <span>
+#include <string_view>
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _wpi_proto_ProtobufArmFeedforward {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double ks;
+    double kg;
+    double kv;
+    double ka;
+    double dt;
+} wpi_proto_ProtobufArmFeedforward;
+
+typedef struct _wpi_proto_ProtobufDifferentialDriveFeedforward {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double kv_linear;
+    double ka_linear;
+    double kv_angular;
+    double ka_angular;
+} wpi_proto_ProtobufDifferentialDriveFeedforward;
+
+typedef struct _wpi_proto_ProtobufElevatorFeedforward {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double ks;
+    double kg;
+    double kv;
+    double ka;
+    double dt;
+} wpi_proto_ProtobufElevatorFeedforward;
+
+typedef struct _wpi_proto_ProtobufSimpleMotorFeedforward {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double ks;
+    double kv;
+    double ka;
+    double dt;
+} wpi_proto_ProtobufSimpleMotorFeedforward;
+
+typedef struct _wpi_proto_ProtobufDifferentialDriveWheelVoltages {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double left;
+    double right;
+} wpi_proto_ProtobufDifferentialDriveWheelVoltages;
+
+
+/* Initializer values for message structs */
+#define wpi_proto_ProtobufArmFeedforward_init_default {0, 0, 0, 0, 0}
+#define wpi_proto_ProtobufDifferentialDriveFeedforward_init_default {0, 0, 0, 0}
+#define wpi_proto_ProtobufElevatorFeedforward_init_default {0, 0, 0, 0, 0}
+#define wpi_proto_ProtobufSimpleMotorFeedforward_init_default {0, 0, 0, 0}
+#define wpi_proto_ProtobufDifferentialDriveWheelVoltages_init_default {0, 0}
+#define wpi_proto_ProtobufArmFeedforward_init_zero {0, 0, 0, 0, 0}
+#define wpi_proto_ProtobufDifferentialDriveFeedforward_init_zero {0, 0, 0, 0}
+#define wpi_proto_ProtobufElevatorFeedforward_init_zero {0, 0, 0, 0, 0}
+#define wpi_proto_ProtobufSimpleMotorFeedforward_init_zero {0, 0, 0, 0}
+#define wpi_proto_ProtobufDifferentialDriveWheelVoltages_init_zero {0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define wpi_proto_ProtobufArmFeedforward_ks_tag  1
+#define wpi_proto_ProtobufArmFeedforward_kg_tag  2
+#define wpi_proto_ProtobufArmFeedforward_kv_tag  3
+#define wpi_proto_ProtobufArmFeedforward_ka_tag  4
+#define wpi_proto_ProtobufArmFeedforward_dt_tag  5
+#define wpi_proto_ProtobufDifferentialDriveFeedforward_kv_linear_tag 1
+#define wpi_proto_ProtobufDifferentialDriveFeedforward_ka_linear_tag 2
+#define wpi_proto_ProtobufDifferentialDriveFeedforward_kv_angular_tag 3
+#define wpi_proto_ProtobufDifferentialDriveFeedforward_ka_angular_tag 4
+#define wpi_proto_ProtobufElevatorFeedforward_ks_tag 1
+#define wpi_proto_ProtobufElevatorFeedforward_kg_tag 2
+#define wpi_proto_ProtobufElevatorFeedforward_kv_tag 3
+#define wpi_proto_ProtobufElevatorFeedforward_ka_tag 4
+#define wpi_proto_ProtobufElevatorFeedforward_dt_tag 5
+#define wpi_proto_ProtobufSimpleMotorFeedforward_ks_tag 1
+#define wpi_proto_ProtobufSimpleMotorFeedforward_kv_tag 2
+#define wpi_proto_ProtobufSimpleMotorFeedforward_ka_tag 3
+#define wpi_proto_ProtobufSimpleMotorFeedforward_dt_tag 4
+#define wpi_proto_ProtobufDifferentialDriveWheelVoltages_left_tag 1
+#define wpi_proto_ProtobufDifferentialDriveWheelVoltages_right_tag 2
+
+/* Struct field encoding specification for nanopb */
+#define wpi_proto_ProtobufArmFeedforward_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   ks,                1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   kg,                2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   kv,                3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   ka,                4) \
+X(a, STATIC,   SINGULAR, DOUBLE,   dt,                5)
+#define wpi_proto_ProtobufArmFeedforward_CALLBACK NULL
+#define wpi_proto_ProtobufArmFeedforward_DEFAULT NULL
+
+#define wpi_proto_ProtobufDifferentialDriveFeedforward_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   kv_linear,         1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   ka_linear,         2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   kv_angular,        3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   ka_angular,        4)
+#define wpi_proto_ProtobufDifferentialDriveFeedforward_CALLBACK NULL
+#define wpi_proto_ProtobufDifferentialDriveFeedforward_DEFAULT NULL
+
+#define wpi_proto_ProtobufElevatorFeedforward_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   ks,                1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   kg,                2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   kv,                3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   ka,                4) \
+X(a, STATIC,   SINGULAR, DOUBLE,   dt,                5)
+#define wpi_proto_ProtobufElevatorFeedforward_CALLBACK NULL
+#define wpi_proto_ProtobufElevatorFeedforward_DEFAULT NULL
+
+#define wpi_proto_ProtobufSimpleMotorFeedforward_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   ks,                1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   kv,                2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   ka,                3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   dt,                4)
+#define wpi_proto_ProtobufSimpleMotorFeedforward_CALLBACK NULL
+#define wpi_proto_ProtobufSimpleMotorFeedforward_DEFAULT NULL
+
+#define wpi_proto_ProtobufDifferentialDriveWheelVoltages_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   left,              1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   right,             2)
+#define wpi_proto_ProtobufDifferentialDriveWheelVoltages_CALLBACK NULL
+#define wpi_proto_ProtobufDifferentialDriveWheelVoltages_DEFAULT NULL
+
+/* Maximum encoded size of messages (where known) */
+#define WPI_PROTO_CONTROLLER_NPB_H_MAX_SIZE      wpi_proto_ProtobufArmFeedforward_size
+#define wpi_proto_ProtobufArmFeedforward_size    45
+#define wpi_proto_ProtobufDifferentialDriveFeedforward_size 36
+#define wpi_proto_ProtobufDifferentialDriveWheelVoltages_size 18
+#define wpi_proto_ProtobufElevatorFeedforward_size 45
+#define wpi_proto_ProtobufSimpleMotorFeedforward_size 36
+
+
+#endif

wpimath/src/generated/main/native/cpp/wpimath/protobuf/geometry2d.npb.cpp

@@ -0,0 +1,256 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.9 */
+
+#include "geometry2d.npb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+#include <span>
+#include <string_view>
+static const uint8_t file_descriptor[] {
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+0x03,0x20,0x02,0x10,0x0a,0x0c,0x0a,0x05,0x04,0x05,
+0x02,0x00,0x01,0x12,0x03,0x20,0x11,0x17,0x0a,0x0c,
+0x0a,0x05,0x04,0x05,0x02,0x00,0x03,0x12,0x03,0x20,
+0x1a,0x1b,0x0a,0x0b,0x0a,0x04,0x04,0x05,0x02,0x01,
+0x12,0x03,0x21,0x02,0x14,0x0a,0x0c,0x0a,0x05,0x04,
+0x05,0x02,0x01,0x05,0x12,0x03,0x21,0x02,0x08,0x0a,
+0x0c,0x0a,0x05,0x04,0x05,0x02,0x01,0x01,0x12,0x03,
+0x21,0x09,0x0f,0x0a,0x0c,0x0a,0x05,0x04,0x05,0x02,
+0x01,0x03,0x12,0x03,0x21,0x12,0x13,0x0a,0x0b,0x0a,
+0x04,0x04,0x05,0x02,0x02,0x12,0x03,0x22,0x02,0x14,
+0x0a,0x0c,0x0a,0x05,0x04,0x05,0x02,0x02,0x05,0x12,
+0x03,0x22,0x02,0x08,0x0a,0x0c,0x0a,0x05,0x04,0x05,
+0x02,0x02,0x01,0x12,0x03,0x22,0x09,0x0f,0x0a,0x0c,
+0x0a,0x05,0x04,0x05,0x02,0x02,0x03,0x12,0x03,0x22,
+0x12,0x13,0x0a,0x0a,0x0a,0x02,0x04,0x06,0x12,0x04,
+0x25,0x00,0x29,0x01,0x0a,0x0a,0x0a,0x03,0x04,0x06,
+0x01,0x12,0x03,0x25,0x08,0x19,0x0a,0x0b,0x0a,0x04,
+0x04,0x06,0x02,0x00,0x12,0x03,0x26,0x02,0x1c,0x0a,
+0x0c,0x0a,0x05,0x04,0x06,0x02,0x00,0x06,0x12,0x03,
+0x26,0x02,0x10,0x0a,0x0c,0x0a,0x05,0x04,0x06,0x02,
+0x00,0x01,0x12,0x03,0x26,0x11,0x17,0x0a,0x0c,0x0a,
+0x05,0x04,0x06,0x02,0x00,0x03,0x12,0x03,0x26,0x1a,
+0x1b,0x0a,0x0b,0x0a,0x04,0x04,0x06,0x02,0x01,0x12,
+0x03,0x27,0x02,0x17,0x0a,0x0c,0x0a,0x05,0x04,0x06,
+0x02,0x01,0x05,0x12,0x03,0x27,0x02,0x08,0x0a,0x0c,
+0x0a,0x05,0x04,0x06,0x02,0x01,0x01,0x12,0x03,0x27,
+0x09,0x12,0x0a,0x0c,0x0a,0x05,0x04,0x06,0x02,0x01,
+0x03,0x12,0x03,0x27,0x15,0x16,0x0a,0x0b,0x0a,0x04,
+0x04,0x06,0x02,0x02,0x12,0x03,0x28,0x02,0x17,0x0a,
+0x0c,0x0a,0x05,0x04,0x06,0x02,0x02,0x05,0x12,0x03,
+0x28,0x02,0x08,0x0a,0x0c,0x0a,0x05,0x04,0x06,0x02,
+0x02,0x01,0x12,0x03,0x28,0x09,0x12,0x0a,0x0c,0x0a,
+0x05,0x04,0x06,0x02,0x02,0x03,0x12,0x03,0x28,0x15,
+0x16,0x62,0x06,0x70,0x72,0x6f,0x74,0x6f,0x33,
+};
+static const char file_name[] = "geometry2d.proto";
+static const char wpi_proto_ProtobufTranslation2d_name[] = "wpi.proto.ProtobufTranslation2d";
+std::string_view wpi_proto_ProtobufTranslation2d::msg_name(void) noexcept { return wpi_proto_ProtobufTranslation2d_name; }
+pb_filedesc_t wpi_proto_ProtobufTranslation2d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufTranslation2d, wpi_proto_ProtobufTranslation2d, AUTO)
+
+
+static const char wpi_proto_ProtobufRotation2d_name[] = "wpi.proto.ProtobufRotation2d";
+std::string_view wpi_proto_ProtobufRotation2d::msg_name(void) noexcept { return wpi_proto_ProtobufRotation2d_name; }
+pb_filedesc_t wpi_proto_ProtobufRotation2d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufRotation2d, wpi_proto_ProtobufRotation2d, AUTO)
+
+
+static const char wpi_proto_ProtobufPose2d_name[] = "wpi.proto.ProtobufPose2d";
+std::string_view wpi_proto_ProtobufPose2d::msg_name(void) noexcept { return wpi_proto_ProtobufPose2d_name; }
+pb_filedesc_t wpi_proto_ProtobufPose2d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufPose2d, wpi_proto_ProtobufPose2d, AUTO)
+
+
+static const char wpi_proto_ProtobufTransform2d_name[] = "wpi.proto.ProtobufTransform2d";
+std::string_view wpi_proto_ProtobufTransform2d::msg_name(void) noexcept { return wpi_proto_ProtobufTransform2d_name; }
+pb_filedesc_t wpi_proto_ProtobufTransform2d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufTransform2d, wpi_proto_ProtobufTransform2d, AUTO)
+
+
+static const char wpi_proto_ProtobufTwist2d_name[] = "wpi.proto.ProtobufTwist2d";
+std::string_view wpi_proto_ProtobufTwist2d::msg_name(void) noexcept { return wpi_proto_ProtobufTwist2d_name; }
+pb_filedesc_t wpi_proto_ProtobufTwist2d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufTwist2d, wpi_proto_ProtobufTwist2d, AUTO)
+
+
+static const char wpi_proto_ProtobufRectangle2d_name[] = "wpi.proto.ProtobufRectangle2d";
+std::string_view wpi_proto_ProtobufRectangle2d::msg_name(void) noexcept { return wpi_proto_ProtobufRectangle2d_name; }
+pb_filedesc_t wpi_proto_ProtobufRectangle2d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufRectangle2d, wpi_proto_ProtobufRectangle2d, AUTO)
+
+
+static const char wpi_proto_ProtobufEllipse2d_name[] = "wpi.proto.ProtobufEllipse2d";
+std::string_view wpi_proto_ProtobufEllipse2d::msg_name(void) noexcept { return wpi_proto_ProtobufEllipse2d_name; }
+pb_filedesc_t wpi_proto_ProtobufEllipse2d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufEllipse2d, wpi_proto_ProtobufEllipse2d, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

wpimath/src/generated/main/native/cpp/wpimath/protobuf/geometry2d.npb.h

@@ -0,0 +1,180 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.9 */
+
+#ifndef PB_WPI_PROTO_GEOMETRY2D_NPB_H_INCLUDED
+#define PB_WPI_PROTO_GEOMETRY2D_NPB_H_INCLUDED
+#include <pb.h>
+#include <span>
+#include <string_view>
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _wpi_proto_ProtobufTranslation2d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double x;
+    double y;
+} wpi_proto_ProtobufTranslation2d;
+
+typedef struct _wpi_proto_ProtobufRotation2d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double value;
+} wpi_proto_ProtobufRotation2d;
+
+typedef struct _wpi_proto_ProtobufPose2d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t translation;
+    pb_callback_t rotation;
+} wpi_proto_ProtobufPose2d;
+
+typedef struct _wpi_proto_ProtobufTransform2d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t translation;
+    pb_callback_t rotation;
+} wpi_proto_ProtobufTransform2d;
+
+typedef struct _wpi_proto_ProtobufTwist2d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double dx;
+    double dy;
+    double dtheta;
+} wpi_proto_ProtobufTwist2d;
+
+typedef struct _wpi_proto_ProtobufRectangle2d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t center;
+    double xWidth;
+    double yWidth;
+} wpi_proto_ProtobufRectangle2d;
+
+typedef struct _wpi_proto_ProtobufEllipse2d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t center;
+    double xSemiAxis;
+    double ySemiAxis;
+} wpi_proto_ProtobufEllipse2d;
+
+
+/* Initializer values for message structs */
+#define wpi_proto_ProtobufTranslation2d_init_default {0, 0}
+#define wpi_proto_ProtobufRotation2d_init_default {0}
+#define wpi_proto_ProtobufPose2d_init_default    {{{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufTransform2d_init_default {{{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufTwist2d_init_default   {0, 0, 0}
+#define wpi_proto_ProtobufRectangle2d_init_default {{{NULL}, NULL}, 0, 0}
+#define wpi_proto_ProtobufEllipse2d_init_default {{{NULL}, NULL}, 0, 0}
+#define wpi_proto_ProtobufTranslation2d_init_zero {0, 0}
+#define wpi_proto_ProtobufRotation2d_init_zero   {0}
+#define wpi_proto_ProtobufPose2d_init_zero       {{{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufTransform2d_init_zero  {{{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufTwist2d_init_zero      {0, 0, 0}
+#define wpi_proto_ProtobufRectangle2d_init_zero  {{{NULL}, NULL}, 0, 0}
+#define wpi_proto_ProtobufEllipse2d_init_zero    {{{NULL}, NULL}, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define wpi_proto_ProtobufTranslation2d_x_tag    1
+#define wpi_proto_ProtobufTranslation2d_y_tag    2
+#define wpi_proto_ProtobufRotation2d_value_tag   1
+#define wpi_proto_ProtobufPose2d_translation_tag 1
+#define wpi_proto_ProtobufPose2d_rotation_tag    2
+#define wpi_proto_ProtobufTransform2d_translation_tag 1
+#define wpi_proto_ProtobufTransform2d_rotation_tag 2
+#define wpi_proto_ProtobufTwist2d_dx_tag         1
+#define wpi_proto_ProtobufTwist2d_dy_tag         2
+#define wpi_proto_ProtobufTwist2d_dtheta_tag     3
+#define wpi_proto_ProtobufRectangle2d_center_tag 1
+#define wpi_proto_ProtobufRectangle2d_xWidth_tag 2
+#define wpi_proto_ProtobufRectangle2d_yWidth_tag 3
+#define wpi_proto_ProtobufEllipse2d_center_tag   1
+#define wpi_proto_ProtobufEllipse2d_xSemiAxis_tag 2
+#define wpi_proto_ProtobufEllipse2d_ySemiAxis_tag 3
+
+/* Struct field encoding specification for nanopb */
+#define wpi_proto_ProtobufTranslation2d_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   x,                 1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   y,                 2)
+#define wpi_proto_ProtobufTranslation2d_CALLBACK NULL
+#define wpi_proto_ProtobufTranslation2d_DEFAULT NULL
+
+#define wpi_proto_ProtobufRotation2d_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   value,             1)
+#define wpi_proto_ProtobufRotation2d_CALLBACK NULL
+#define wpi_proto_ProtobufRotation2d_DEFAULT NULL
+
+#define wpi_proto_ProtobufPose2d_FIELDLIST(X, a) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  translation,       1) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  rotation,          2)
+#define wpi_proto_ProtobufPose2d_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufPose2d_DEFAULT NULL
+#define wpi_proto_ProtobufPose2d_translation_MSGTYPE wpi_proto_ProtobufTranslation2d
+#define wpi_proto_ProtobufPose2d_rotation_MSGTYPE wpi_proto_ProtobufRotation2d
+
+#define wpi_proto_ProtobufTransform2d_FIELDLIST(X, a) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  translation,       1) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  rotation,          2)
+#define wpi_proto_ProtobufTransform2d_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufTransform2d_DEFAULT NULL
+#define wpi_proto_ProtobufTransform2d_translation_MSGTYPE wpi_proto_ProtobufTranslation2d
+#define wpi_proto_ProtobufTransform2d_rotation_MSGTYPE wpi_proto_ProtobufRotation2d
+
+#define wpi_proto_ProtobufTwist2d_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   dx,                1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   dy,                2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   dtheta,            3)
+#define wpi_proto_ProtobufTwist2d_CALLBACK NULL
+#define wpi_proto_ProtobufTwist2d_DEFAULT NULL
+
+#define wpi_proto_ProtobufRectangle2d_FIELDLIST(X, a) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  center,            1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   xWidth,            2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   yWidth,            3)
+#define wpi_proto_ProtobufRectangle2d_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufRectangle2d_DEFAULT NULL
+#define wpi_proto_ProtobufRectangle2d_center_MSGTYPE wpi_proto_ProtobufPose2d
+
+#define wpi_proto_ProtobufEllipse2d_FIELDLIST(X, a) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  center,            1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   xSemiAxis,         2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   ySemiAxis,         3)
+#define wpi_proto_ProtobufEllipse2d_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufEllipse2d_DEFAULT NULL
+#define wpi_proto_ProtobufEllipse2d_center_MSGTYPE wpi_proto_ProtobufPose2d
+
+/* Maximum encoded size of messages (where known) */
+/* wpi_proto_ProtobufPose2d_size depends on runtime parameters */
+/* wpi_proto_ProtobufTransform2d_size depends on runtime parameters */
+/* wpi_proto_ProtobufRectangle2d_size depends on runtime parameters */
+/* wpi_proto_ProtobufEllipse2d_size depends on runtime parameters */
+#define WPI_PROTO_GEOMETRY2D_NPB_H_MAX_SIZE      wpi_proto_ProtobufTwist2d_size
+#define wpi_proto_ProtobufRotation2d_size        9
+#define wpi_proto_ProtobufTranslation2d_size     18
+#define wpi_proto_ProtobufTwist2d_size           27
+
+
+#endif

wpimath/src/generated/main/native/cpp/wpimath/protobuf/geometry3d.npb.cpp

@@ -0,0 +1,249 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.9 */
+
+#include "geometry3d.npb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+#include <span>
+#include <string_view>
+static const uint8_t file_descriptor[] {
+0x0a,0x10,0x67,0x65,0x6f,0x6d,0x65,0x74,0x72,0x79,
+0x33,0x64,0x2e,0x70,0x72,0x6f,0x74,0x6f,0x12,0x09,
+0x77,0x70,0x69,0x2e,0x70,0x72,0x6f,0x74,0x6f,0x22,
+0x41,0x0a,0x15,0x50,0x72,0x6f,0x74,0x6f,0x62,0x75,
+0x66,0x54,0x72,0x61,0x6e,0x73,0x6c,0x61,0x74,0x69,
+0x6f,0x6e,0x33,0x64,0x12,0x0c,0x0a,0x01,0x78,0x18,
+0x01,0x20,0x01,0x28,0x01,0x52,0x01,0x78,0x12,0x0c,
+0x0a,0x01,0x79,0x18,0x02,0x20,0x01,0x28,0x01,0x52,
+0x01,0x79,0x12,0x0c,0x0a,0x01,0x7a,0x18,0x03,0x20,
+0x01,0x28,0x01,0x52,0x01,0x7a,0x22,0x4c,0x0a,0x12,
+0x50,0x72,0x6f,0x74,0x6f,0x62,0x75,0x66,0x51,0x75,
+0x61,0x74,0x65,0x72,0x6e,0x69,0x6f,0x6e,0x12,0x0c,
+0x0a,0x01,0x77,0x18,0x01,0x20,0x01,0x28,0x01,0x52,
+0x01,0x77,0x12,0x0c,0x0a,0x01,0x78,0x18,0x02,0x20,
+0x01,0x28,0x01,0x52,0x01,0x78,0x12,0x0c,0x0a,0x01,
+0x79,0x18,0x03,0x20,0x01,0x28,0x01,0x52,0x01,0x79,
+0x12,0x0c,0x0a,0x01,0x7a,0x18,0x04,0x20,0x01,0x28,
+0x01,0x52,0x01,0x7a,0x22,0x41,0x0a,0x12,0x50,0x72,
+0x6f,0x74,0x6f,0x62,0x75,0x66,0x52,0x6f,0x74,0x61,
+0x74,0x69,0x6f,0x6e,0x33,0x64,0x12,0x2b,0x0a,0x01,
+0x71,0x18,0x01,0x20,0x01,0x28,0x0b,0x32,0x1d,0x2e,
+0x77,0x70,0x69,0x2e,0x70,0x72,0x6f,0x74,0x6f,0x2e,
+0x50,0x72,0x6f,0x74,0x6f,0x62,0x75,0x66,0x51,0x75,
+0x61,0x74,0x65,0x72,0x6e,0x69,0x6f,0x6e,0x52,0x01,
+0x71,0x22,0x8f,0x01,0x0a,0x0e,0x50,0x72,0x6f,0x74,
+0x6f,0x62,0x75,0x66,0x50,0x6f,0x73,0x65,0x33,0x64,
+0x12,0x42,0x0a,0x0b,0x74,0x72,0x61,0x6e,0x73,0x6c,
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+};
+static const char file_name[] = "geometry3d.proto";
+static const char wpi_proto_ProtobufTranslation3d_name[] = "wpi.proto.ProtobufTranslation3d";
+std::string_view wpi_proto_ProtobufTranslation3d::msg_name(void) noexcept { return wpi_proto_ProtobufTranslation3d_name; }
+pb_filedesc_t wpi_proto_ProtobufTranslation3d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufTranslation3d, wpi_proto_ProtobufTranslation3d, AUTO)
+
+
+static const char wpi_proto_ProtobufQuaternion_name[] = "wpi.proto.ProtobufQuaternion";
+std::string_view wpi_proto_ProtobufQuaternion::msg_name(void) noexcept { return wpi_proto_ProtobufQuaternion_name; }
+pb_filedesc_t wpi_proto_ProtobufQuaternion::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufQuaternion, wpi_proto_ProtobufQuaternion, AUTO)
+
+
+static const char wpi_proto_ProtobufRotation3d_name[] = "wpi.proto.ProtobufRotation3d";
+std::string_view wpi_proto_ProtobufRotation3d::msg_name(void) noexcept { return wpi_proto_ProtobufRotation3d_name; }
+pb_filedesc_t wpi_proto_ProtobufRotation3d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufRotation3d, wpi_proto_ProtobufRotation3d, AUTO)
+
+
+static const char wpi_proto_ProtobufPose3d_name[] = "wpi.proto.ProtobufPose3d";
+std::string_view wpi_proto_ProtobufPose3d::msg_name(void) noexcept { return wpi_proto_ProtobufPose3d_name; }
+pb_filedesc_t wpi_proto_ProtobufPose3d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufPose3d, wpi_proto_ProtobufPose3d, AUTO)
+
+
+static const char wpi_proto_ProtobufTransform3d_name[] = "wpi.proto.ProtobufTransform3d";
+std::string_view wpi_proto_ProtobufTransform3d::msg_name(void) noexcept { return wpi_proto_ProtobufTransform3d_name; }
+pb_filedesc_t wpi_proto_ProtobufTransform3d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufTransform3d, wpi_proto_ProtobufTransform3d, AUTO)
+
+
+static const char wpi_proto_ProtobufTwist3d_name[] = "wpi.proto.ProtobufTwist3d";
+std::string_view wpi_proto_ProtobufTwist3d::msg_name(void) noexcept { return wpi_proto_ProtobufTwist3d_name; }
+pb_filedesc_t wpi_proto_ProtobufTwist3d::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufTwist3d, wpi_proto_ProtobufTwist3d, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

wpimath/src/generated/main/native/cpp/wpimath/protobuf/geometry3d.npb.h

@@ -0,0 +1,171 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.9 */
+
+#ifndef PB_WPI_PROTO_GEOMETRY3D_NPB_H_INCLUDED
+#define PB_WPI_PROTO_GEOMETRY3D_NPB_H_INCLUDED
+#include <pb.h>
+#include <span>
+#include <string_view>
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _wpi_proto_ProtobufTranslation3d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double x;
+    double y;
+    double z;
+} wpi_proto_ProtobufTranslation3d;
+
+typedef struct _wpi_proto_ProtobufQuaternion {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double w;
+    double x;
+    double y;
+    double z;
+} wpi_proto_ProtobufQuaternion;
+
+typedef struct _wpi_proto_ProtobufRotation3d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t q;
+} wpi_proto_ProtobufRotation3d;
+
+typedef struct _wpi_proto_ProtobufPose3d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t translation;
+    pb_callback_t rotation;
+} wpi_proto_ProtobufPose3d;
+
+typedef struct _wpi_proto_ProtobufTransform3d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t translation;
+    pb_callback_t rotation;
+} wpi_proto_ProtobufTransform3d;
+
+typedef struct _wpi_proto_ProtobufTwist3d {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double dx;
+    double dy;
+    double dz;
+    double rx;
+    double ry;
+    double rz;
+} wpi_proto_ProtobufTwist3d;
+
+
+/* Initializer values for message structs */
+#define wpi_proto_ProtobufTranslation3d_init_default {0, 0, 0}
+#define wpi_proto_ProtobufQuaternion_init_default {0, 0, 0, 0}
+#define wpi_proto_ProtobufRotation3d_init_default {{{NULL}, NULL}}
+#define wpi_proto_ProtobufPose3d_init_default    {{{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufTransform3d_init_default {{{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufTwist3d_init_default   {0, 0, 0, 0, 0, 0}
+#define wpi_proto_ProtobufTranslation3d_init_zero {0, 0, 0}
+#define wpi_proto_ProtobufQuaternion_init_zero   {0, 0, 0, 0}
+#define wpi_proto_ProtobufRotation3d_init_zero   {{{NULL}, NULL}}
+#define wpi_proto_ProtobufPose3d_init_zero       {{{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufTransform3d_init_zero  {{{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufTwist3d_init_zero      {0, 0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define wpi_proto_ProtobufTranslation3d_x_tag    1
+#define wpi_proto_ProtobufTranslation3d_y_tag    2
+#define wpi_proto_ProtobufTranslation3d_z_tag    3
+#define wpi_proto_ProtobufQuaternion_w_tag       1
+#define wpi_proto_ProtobufQuaternion_x_tag       2
+#define wpi_proto_ProtobufQuaternion_y_tag       3
+#define wpi_proto_ProtobufQuaternion_z_tag       4
+#define wpi_proto_ProtobufRotation3d_q_tag       1
+#define wpi_proto_ProtobufPose3d_translation_tag 1
+#define wpi_proto_ProtobufPose3d_rotation_tag    2
+#define wpi_proto_ProtobufTransform3d_translation_tag 1
+#define wpi_proto_ProtobufTransform3d_rotation_tag 2
+#define wpi_proto_ProtobufTwist3d_dx_tag         1
+#define wpi_proto_ProtobufTwist3d_dy_tag         2
+#define wpi_proto_ProtobufTwist3d_dz_tag         3
+#define wpi_proto_ProtobufTwist3d_rx_tag         4
+#define wpi_proto_ProtobufTwist3d_ry_tag         5
+#define wpi_proto_ProtobufTwist3d_rz_tag         6
+
+/* Struct field encoding specification for nanopb */
+#define wpi_proto_ProtobufTranslation3d_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   x,                 1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   y,                 2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   z,                 3)
+#define wpi_proto_ProtobufTranslation3d_CALLBACK NULL
+#define wpi_proto_ProtobufTranslation3d_DEFAULT NULL
+
+#define wpi_proto_ProtobufQuaternion_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   w,                 1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   x,                 2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   y,                 3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   z,                 4)
+#define wpi_proto_ProtobufQuaternion_CALLBACK NULL
+#define wpi_proto_ProtobufQuaternion_DEFAULT NULL
+
+#define wpi_proto_ProtobufRotation3d_FIELDLIST(X, a) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  q,                 1)
+#define wpi_proto_ProtobufRotation3d_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufRotation3d_DEFAULT NULL
+#define wpi_proto_ProtobufRotation3d_q_MSGTYPE wpi_proto_ProtobufQuaternion
+
+#define wpi_proto_ProtobufPose3d_FIELDLIST(X, a) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  translation,       1) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  rotation,          2)
+#define wpi_proto_ProtobufPose3d_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufPose3d_DEFAULT NULL
+#define wpi_proto_ProtobufPose3d_translation_MSGTYPE wpi_proto_ProtobufTranslation3d
+#define wpi_proto_ProtobufPose3d_rotation_MSGTYPE wpi_proto_ProtobufRotation3d
+
+#define wpi_proto_ProtobufTransform3d_FIELDLIST(X, a) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  translation,       1) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  rotation,          2)
+#define wpi_proto_ProtobufTransform3d_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufTransform3d_DEFAULT NULL
+#define wpi_proto_ProtobufTransform3d_translation_MSGTYPE wpi_proto_ProtobufTranslation3d
+#define wpi_proto_ProtobufTransform3d_rotation_MSGTYPE wpi_proto_ProtobufRotation3d
+
+#define wpi_proto_ProtobufTwist3d_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   dx,                1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   dy,                2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   dz,                3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   rx,                4) \
+X(a, STATIC,   SINGULAR, DOUBLE,   ry,                5) \
+X(a, STATIC,   SINGULAR, DOUBLE,   rz,                6)
+#define wpi_proto_ProtobufTwist3d_CALLBACK NULL
+#define wpi_proto_ProtobufTwist3d_DEFAULT NULL
+
+/* Maximum encoded size of messages (where known) */
+/* wpi_proto_ProtobufRotation3d_size depends on runtime parameters */
+/* wpi_proto_ProtobufPose3d_size depends on runtime parameters */
+/* wpi_proto_ProtobufTransform3d_size depends on runtime parameters */
+#define WPI_PROTO_GEOMETRY3D_NPB_H_MAX_SIZE      wpi_proto_ProtobufTwist3d_size
+#define wpi_proto_ProtobufQuaternion_size        36
+#define wpi_proto_ProtobufTranslation3d_size     27
+#define wpi_proto_ProtobufTwist3d_size           54
+
+
+#endif

wpimath/src/generated/main/native/cpp/wpimath/protobuf/kinematics.npb.cpp

@@ -0,0 +1,434 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.9 */
+
+#include "kinematics.npb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+#include <span>
+#include <string_view>
+static const uint8_t file_descriptor[] {
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+0x0c,0x0a,0x05,0x04,0x07,0x02,0x02,0x03,0x12,0x03,
+0x34,0x15,0x16,0x0a,0x0b,0x0a,0x04,0x04,0x07,0x02,
+0x03,0x12,0x03,0x35,0x02,0x18,0x0a,0x0c,0x0a,0x05,
+0x04,0x07,0x02,0x03,0x05,0x12,0x03,0x35,0x02,0x08,
+0x0a,0x0c,0x0a,0x05,0x04,0x07,0x02,0x03,0x01,0x12,
+0x03,0x35,0x09,0x13,0x0a,0x0c,0x0a,0x05,0x04,0x07,
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+0x0a,0x02,0x04,0x08,0x12,0x04,0x38,0x00,0x3a,0x01,
+0x0a,0x0a,0x0a,0x03,0x04,0x08,0x01,0x12,0x03,0x38,
+0x08,0x25,0x0a,0x0b,0x0a,0x04,0x04,0x08,0x02,0x00,
+0x12,0x03,0x39,0x02,0x2d,0x0a,0x0c,0x0a,0x05,0x04,
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+0x0c,0x0a,0x05,0x04,0x08,0x02,0x00,0x06,0x12,0x03,
+0x39,0x0b,0x20,0x0a,0x0c,0x0a,0x05,0x04,0x08,0x02,
+0x00,0x01,0x12,0x03,0x39,0x21,0x28,0x0a,0x0c,0x0a,
+0x05,0x04,0x08,0x02,0x00,0x03,0x12,0x03,0x39,0x2b,
+0x2c,0x0a,0x0a,0x0a,0x02,0x04,0x09,0x12,0x04,0x3c,
+0x00,0x3f,0x01,0x0a,0x0a,0x0a,0x03,0x04,0x09,0x01,
+0x12,0x03,0x3c,0x08,0x24,0x0a,0x0b,0x0a,0x04,0x04,
+0x09,0x02,0x00,0x12,0x03,0x3d,0x02,0x16,0x0a,0x0c,
+0x0a,0x05,0x04,0x09,0x02,0x00,0x05,0x12,0x03,0x3d,
+0x02,0x08,0x0a,0x0c,0x0a,0x05,0x04,0x09,0x02,0x00,
+0x01,0x12,0x03,0x3d,0x09,0x11,0x0a,0x0c,0x0a,0x05,
+0x04,0x09,0x02,0x00,0x03,0x12,0x03,0x3d,0x14,0x15,
+0x0a,0x0b,0x0a,0x04,0x04,0x09,0x02,0x01,0x12,0x03,
+0x3e,0x02,0x1f,0x0a,0x0c,0x0a,0x05,0x04,0x09,0x02,
+0x01,0x06,0x12,0x03,0x3e,0x02,0x14,0x0a,0x0c,0x0a,
+0x05,0x04,0x09,0x02,0x01,0x01,0x12,0x03,0x3e,0x15,
+0x1a,0x0a,0x0c,0x0a,0x05,0x04,0x09,0x02,0x01,0x03,
+0x12,0x03,0x3e,0x1d,0x1e,0x0a,0x0a,0x0a,0x02,0x04,
+0x0a,0x12,0x04,0x41,0x00,0x44,0x01,0x0a,0x0a,0x0a,
+0x03,0x04,0x0a,0x01,0x12,0x03,0x41,0x08,0x21,0x0a,
+0x0b,0x0a,0x04,0x04,0x0a,0x02,0x00,0x12,0x03,0x42,
+0x02,0x13,0x0a,0x0c,0x0a,0x05,0x04,0x0a,0x02,0x00,
+0x05,0x12,0x03,0x42,0x02,0x08,0x0a,0x0c,0x0a,0x05,
+0x04,0x0a,0x02,0x00,0x01,0x12,0x03,0x42,0x09,0x0e,
+0x0a,0x0c,0x0a,0x05,0x04,0x0a,0x02,0x00,0x03,0x12,
+0x03,0x42,0x11,0x12,0x0a,0x0b,0x0a,0x04,0x04,0x0a,
+0x02,0x01,0x12,0x03,0x43,0x02,0x1f,0x0a,0x0c,0x0a,
+0x05,0x04,0x0a,0x02,0x01,0x06,0x12,0x03,0x43,0x02,
+0x14,0x0a,0x0c,0x0a,0x05,0x04,0x0a,0x02,0x01,0x01,
+0x12,0x03,0x43,0x15,0x1a,0x0a,0x0c,0x0a,0x05,0x04,
+0x0a,0x02,0x01,0x03,0x12,0x03,0x43,0x1d,0x1e,0x62,
+0x06,0x70,0x72,0x6f,0x74,0x6f,0x33,
+};
+static const char file_name[] = "kinematics.proto";
+static const char wpi_proto_ProtobufChassisSpeeds_name[] = "wpi.proto.ProtobufChassisSpeeds";
+std::string_view wpi_proto_ProtobufChassisSpeeds::msg_name(void) noexcept { return wpi_proto_ProtobufChassisSpeeds_name; }
+pb_filedesc_t wpi_proto_ProtobufChassisSpeeds::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufChassisSpeeds, wpi_proto_ProtobufChassisSpeeds, AUTO)
+
+
+static const char wpi_proto_ProtobufDifferentialDriveKinematics_name[] = "wpi.proto.ProtobufDifferentialDriveKinematics";
+std::string_view wpi_proto_ProtobufDifferentialDriveKinematics::msg_name(void) noexcept { return wpi_proto_ProtobufDifferentialDriveKinematics_name; }
+pb_filedesc_t wpi_proto_ProtobufDifferentialDriveKinematics::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufDifferentialDriveKinematics, wpi_proto_ProtobufDifferentialDriveKinematics, AUTO)
+
+
+static const char wpi_proto_ProtobufDifferentialDriveWheelSpeeds_name[] = "wpi.proto.ProtobufDifferentialDriveWheelSpeeds";
+std::string_view wpi_proto_ProtobufDifferentialDriveWheelSpeeds::msg_name(void) noexcept { return wpi_proto_ProtobufDifferentialDriveWheelSpeeds_name; }
+pb_filedesc_t wpi_proto_ProtobufDifferentialDriveWheelSpeeds::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufDifferentialDriveWheelSpeeds, wpi_proto_ProtobufDifferentialDriveWheelSpeeds, AUTO)
+
+
+static const char wpi_proto_ProtobufDifferentialDriveWheelPositions_name[] = "wpi.proto.ProtobufDifferentialDriveWheelPositions";
+std::string_view wpi_proto_ProtobufDifferentialDriveWheelPositions::msg_name(void) noexcept { return wpi_proto_ProtobufDifferentialDriveWheelPositions_name; }
+pb_filedesc_t wpi_proto_ProtobufDifferentialDriveWheelPositions::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufDifferentialDriveWheelPositions, wpi_proto_ProtobufDifferentialDriveWheelPositions, AUTO)
+
+
+static const char wpi_proto_ProtobufMecanumDriveKinematics_name[] = "wpi.proto.ProtobufMecanumDriveKinematics";
+std::string_view wpi_proto_ProtobufMecanumDriveKinematics::msg_name(void) noexcept { return wpi_proto_ProtobufMecanumDriveKinematics_name; }
+pb_filedesc_t wpi_proto_ProtobufMecanumDriveKinematics::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufMecanumDriveKinematics, wpi_proto_ProtobufMecanumDriveKinematics, AUTO)
+
+
+static const char wpi_proto_ProtobufMecanumDriveMotorVoltages_name[] = "wpi.proto.ProtobufMecanumDriveMotorVoltages";
+std::string_view wpi_proto_ProtobufMecanumDriveMotorVoltages::msg_name(void) noexcept { return wpi_proto_ProtobufMecanumDriveMotorVoltages_name; }
+pb_filedesc_t wpi_proto_ProtobufMecanumDriveMotorVoltages::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufMecanumDriveMotorVoltages, wpi_proto_ProtobufMecanumDriveMotorVoltages, AUTO)
+
+
+static const char wpi_proto_ProtobufMecanumDriveWheelPositions_name[] = "wpi.proto.ProtobufMecanumDriveWheelPositions";
+std::string_view wpi_proto_ProtobufMecanumDriveWheelPositions::msg_name(void) noexcept { return wpi_proto_ProtobufMecanumDriveWheelPositions_name; }
+pb_filedesc_t wpi_proto_ProtobufMecanumDriveWheelPositions::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufMecanumDriveWheelPositions, wpi_proto_ProtobufMecanumDriveWheelPositions, AUTO)
+
+
+static const char wpi_proto_ProtobufMecanumDriveWheelSpeeds_name[] = "wpi.proto.ProtobufMecanumDriveWheelSpeeds";
+std::string_view wpi_proto_ProtobufMecanumDriveWheelSpeeds::msg_name(void) noexcept { return wpi_proto_ProtobufMecanumDriveWheelSpeeds_name; }
+pb_filedesc_t wpi_proto_ProtobufMecanumDriveWheelSpeeds::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufMecanumDriveWheelSpeeds, wpi_proto_ProtobufMecanumDriveWheelSpeeds, AUTO)
+
+
+static const char wpi_proto_ProtobufSwerveDriveKinematics_name[] = "wpi.proto.ProtobufSwerveDriveKinematics";
+std::string_view wpi_proto_ProtobufSwerveDriveKinematics::msg_name(void) noexcept { return wpi_proto_ProtobufSwerveDriveKinematics_name; }
+pb_filedesc_t wpi_proto_ProtobufSwerveDriveKinematics::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufSwerveDriveKinematics, wpi_proto_ProtobufSwerveDriveKinematics, AUTO)
+
+
+static const char wpi_proto_ProtobufSwerveModulePosition_name[] = "wpi.proto.ProtobufSwerveModulePosition";
+std::string_view wpi_proto_ProtobufSwerveModulePosition::msg_name(void) noexcept { return wpi_proto_ProtobufSwerveModulePosition_name; }
+pb_filedesc_t wpi_proto_ProtobufSwerveModulePosition::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufSwerveModulePosition, wpi_proto_ProtobufSwerveModulePosition, AUTO)
+
+
+static const char wpi_proto_ProtobufSwerveModuleState_name[] = "wpi.proto.ProtobufSwerveModuleState";
+std::string_view wpi_proto_ProtobufSwerveModuleState::msg_name(void) noexcept { return wpi_proto_ProtobufSwerveModuleState_name; }
+pb_filedesc_t wpi_proto_ProtobufSwerveModuleState::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufSwerveModuleState, wpi_proto_ProtobufSwerveModuleState, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

wpimath/src/generated/main/native/cpp/wpimath/protobuf/kinematics.npb.h

@@ -0,0 +1,277 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.9 */
+
+#ifndef PB_WPI_PROTO_KINEMATICS_NPB_H_INCLUDED
+#define PB_WPI_PROTO_KINEMATICS_NPB_H_INCLUDED
+#include <pb.h>
+#include <span>
+#include <string_view>
+#include "geometry2d.npb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _wpi_proto_ProtobufChassisSpeeds {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double vx;
+    double vy;
+    double omega;
+} wpi_proto_ProtobufChassisSpeeds;
+
+typedef struct _wpi_proto_ProtobufDifferentialDriveKinematics {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double track_width;
+} wpi_proto_ProtobufDifferentialDriveKinematics;
+
+typedef struct _wpi_proto_ProtobufDifferentialDriveWheelSpeeds {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double left;
+    double right;
+} wpi_proto_ProtobufDifferentialDriveWheelSpeeds;
+
+typedef struct _wpi_proto_ProtobufDifferentialDriveWheelPositions {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double left;
+    double right;
+} wpi_proto_ProtobufDifferentialDriveWheelPositions;
+
+typedef struct _wpi_proto_ProtobufMecanumDriveKinematics {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t front_left;
+    pb_callback_t front_right;
+    pb_callback_t rear_left;
+    pb_callback_t rear_right;
+} wpi_proto_ProtobufMecanumDriveKinematics;
+
+typedef struct _wpi_proto_ProtobufMecanumDriveMotorVoltages {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double front_left;
+    double front_right;
+    double rear_left;
+    double rear_right;
+} wpi_proto_ProtobufMecanumDriveMotorVoltages;
+
+typedef struct _wpi_proto_ProtobufMecanumDriveWheelPositions {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double front_left;
+    double front_right;
+    double rear_left;
+    double rear_right;
+} wpi_proto_ProtobufMecanumDriveWheelPositions;
+
+typedef struct _wpi_proto_ProtobufMecanumDriveWheelSpeeds {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double front_left;
+    double front_right;
+    double rear_left;
+    double rear_right;
+} wpi_proto_ProtobufMecanumDriveWheelSpeeds;
+
+typedef struct _wpi_proto_ProtobufSwerveDriveKinematics {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t modules;
+} wpi_proto_ProtobufSwerveDriveKinematics;
+
+typedef struct _wpi_proto_ProtobufSwerveModulePosition {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double distance;
+    pb_callback_t angle;
+} wpi_proto_ProtobufSwerveModulePosition;
+
+typedef struct _wpi_proto_ProtobufSwerveModuleState {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double speed;
+    pb_callback_t angle;
+} wpi_proto_ProtobufSwerveModuleState;
+
+
+/* Initializer values for message structs */
+#define wpi_proto_ProtobufChassisSpeeds_init_default {0, 0, 0}
+#define wpi_proto_ProtobufDifferentialDriveKinematics_init_default {0}
+#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_init_default {0, 0}
+#define wpi_proto_ProtobufDifferentialDriveWheelPositions_init_default {0, 0}
+#define wpi_proto_ProtobufMecanumDriveKinematics_init_default {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufMecanumDriveMotorVoltages_init_default {0, 0, 0, 0}
+#define wpi_proto_ProtobufMecanumDriveWheelPositions_init_default {0, 0, 0, 0}
+#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_init_default {0, 0, 0, 0}
+#define wpi_proto_ProtobufSwerveDriveKinematics_init_default {{{NULL}, NULL}}
+#define wpi_proto_ProtobufSwerveModulePosition_init_default {0, {{NULL}, NULL}}
+#define wpi_proto_ProtobufSwerveModuleState_init_default {0, {{NULL}, NULL}}
+#define wpi_proto_ProtobufChassisSpeeds_init_zero {0, 0, 0}
+#define wpi_proto_ProtobufDifferentialDriveKinematics_init_zero {0}
+#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_init_zero {0, 0}
+#define wpi_proto_ProtobufDifferentialDriveWheelPositions_init_zero {0, 0}
+#define wpi_proto_ProtobufMecanumDriveKinematics_init_zero {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufMecanumDriveMotorVoltages_init_zero {0, 0, 0, 0}
+#define wpi_proto_ProtobufMecanumDriveWheelPositions_init_zero {0, 0, 0, 0}
+#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_init_zero {0, 0, 0, 0}
+#define wpi_proto_ProtobufSwerveDriveKinematics_init_zero {{{NULL}, NULL}}
+#define wpi_proto_ProtobufSwerveModulePosition_init_zero {0, {{NULL}, NULL}}
+#define wpi_proto_ProtobufSwerveModuleState_init_zero {0, {{NULL}, NULL}}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define wpi_proto_ProtobufChassisSpeeds_vx_tag   1
+#define wpi_proto_ProtobufChassisSpeeds_vy_tag   2
+#define wpi_proto_ProtobufChassisSpeeds_omega_tag 3
+#define wpi_proto_ProtobufDifferentialDriveKinematics_track_width_tag 1
+#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_left_tag 1
+#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_right_tag 2
+#define wpi_proto_ProtobufDifferentialDriveWheelPositions_left_tag 1
+#define wpi_proto_ProtobufDifferentialDriveWheelPositions_right_tag 2
+#define wpi_proto_ProtobufMecanumDriveKinematics_front_left_tag 1
+#define wpi_proto_ProtobufMecanumDriveKinematics_front_right_tag 2
+#define wpi_proto_ProtobufMecanumDriveKinematics_rear_left_tag 3
+#define wpi_proto_ProtobufMecanumDriveKinematics_rear_right_tag 4
+#define wpi_proto_ProtobufMecanumDriveMotorVoltages_front_left_tag 1
+#define wpi_proto_ProtobufMecanumDriveMotorVoltages_front_right_tag 2
+#define wpi_proto_ProtobufMecanumDriveMotorVoltages_rear_left_tag 3
+#define wpi_proto_ProtobufMecanumDriveMotorVoltages_rear_right_tag 4
+#define wpi_proto_ProtobufMecanumDriveWheelPositions_front_left_tag 1
+#define wpi_proto_ProtobufMecanumDriveWheelPositions_front_right_tag 2
+#define wpi_proto_ProtobufMecanumDriveWheelPositions_rear_left_tag 3
+#define wpi_proto_ProtobufMecanumDriveWheelPositions_rear_right_tag 4
+#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_front_left_tag 1
+#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_front_right_tag 2
+#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_rear_left_tag 3
+#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_rear_right_tag 4
+#define wpi_proto_ProtobufSwerveDriveKinematics_modules_tag 1
+#define wpi_proto_ProtobufSwerveModulePosition_distance_tag 1
+#define wpi_proto_ProtobufSwerveModulePosition_angle_tag 2
+#define wpi_proto_ProtobufSwerveModuleState_speed_tag 1
+#define wpi_proto_ProtobufSwerveModuleState_angle_tag 2
+
+/* Struct field encoding specification for nanopb */
+#define wpi_proto_ProtobufChassisSpeeds_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   vx,                1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   vy,                2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   omega,             3)
+#define wpi_proto_ProtobufChassisSpeeds_CALLBACK NULL
+#define wpi_proto_ProtobufChassisSpeeds_DEFAULT NULL
+
+#define wpi_proto_ProtobufDifferentialDriveKinematics_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   track_width,       1)
+#define wpi_proto_ProtobufDifferentialDriveKinematics_CALLBACK NULL
+#define wpi_proto_ProtobufDifferentialDriveKinematics_DEFAULT NULL
+
+#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   left,              1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   right,             2)
+#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_CALLBACK NULL
+#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_DEFAULT NULL
+
+#define wpi_proto_ProtobufDifferentialDriveWheelPositions_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   left,              1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   right,             2)
+#define wpi_proto_ProtobufDifferentialDriveWheelPositions_CALLBACK NULL
+#define wpi_proto_ProtobufDifferentialDriveWheelPositions_DEFAULT NULL
+
+#define wpi_proto_ProtobufMecanumDriveKinematics_FIELDLIST(X, a) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  front_left,        1) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  front_right,       2) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  rear_left,         3) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  rear_right,        4)
+#define wpi_proto_ProtobufMecanumDriveKinematics_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufMecanumDriveKinematics_DEFAULT NULL
+#define wpi_proto_ProtobufMecanumDriveKinematics_front_left_MSGTYPE wpi_proto_ProtobufTranslation2d
+#define wpi_proto_ProtobufMecanumDriveKinematics_front_right_MSGTYPE wpi_proto_ProtobufTranslation2d
+#define wpi_proto_ProtobufMecanumDriveKinematics_rear_left_MSGTYPE wpi_proto_ProtobufTranslation2d
+#define wpi_proto_ProtobufMecanumDriveKinematics_rear_right_MSGTYPE wpi_proto_ProtobufTranslation2d
+
+#define wpi_proto_ProtobufMecanumDriveMotorVoltages_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   front_left,        1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   front_right,       2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   rear_left,         3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   rear_right,        4)
+#define wpi_proto_ProtobufMecanumDriveMotorVoltages_CALLBACK NULL
+#define wpi_proto_ProtobufMecanumDriveMotorVoltages_DEFAULT NULL
+
+#define wpi_proto_ProtobufMecanumDriveWheelPositions_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   front_left,        1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   front_right,       2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   rear_left,         3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   rear_right,        4)
+#define wpi_proto_ProtobufMecanumDriveWheelPositions_CALLBACK NULL
+#define wpi_proto_ProtobufMecanumDriveWheelPositions_DEFAULT NULL
+
+#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   front_left,        1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   front_right,       2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   rear_left,         3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   rear_right,        4)
+#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_CALLBACK NULL
+#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_DEFAULT NULL
+
+#define wpi_proto_ProtobufSwerveDriveKinematics_FIELDLIST(X, a) \
+X(a, CALLBACK, REPEATED, MESSAGE,  modules,           1)
+#define wpi_proto_ProtobufSwerveDriveKinematics_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufSwerveDriveKinematics_DEFAULT NULL
+#define wpi_proto_ProtobufSwerveDriveKinematics_modules_MSGTYPE wpi_proto_ProtobufTranslation2d
+
+#define wpi_proto_ProtobufSwerveModulePosition_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   distance,          1) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  angle,             2)
+#define wpi_proto_ProtobufSwerveModulePosition_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufSwerveModulePosition_DEFAULT NULL
+#define wpi_proto_ProtobufSwerveModulePosition_angle_MSGTYPE wpi_proto_ProtobufRotation2d
+
+#define wpi_proto_ProtobufSwerveModuleState_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   speed,             1) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  angle,             2)
+#define wpi_proto_ProtobufSwerveModuleState_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufSwerveModuleState_DEFAULT NULL
+#define wpi_proto_ProtobufSwerveModuleState_angle_MSGTYPE wpi_proto_ProtobufRotation2d
+
+/* Maximum encoded size of messages (where known) */
+/* wpi_proto_ProtobufMecanumDriveKinematics_size depends on runtime parameters */
+/* wpi_proto_ProtobufSwerveDriveKinematics_size depends on runtime parameters */
+/* wpi_proto_ProtobufSwerveModulePosition_size depends on runtime parameters */
+/* wpi_proto_ProtobufSwerveModuleState_size depends on runtime parameters */
+#define WPI_PROTO_KINEMATICS_NPB_H_MAX_SIZE      wpi_proto_ProtobufMecanumDriveMotorVoltages_size
+#define wpi_proto_ProtobufChassisSpeeds_size     27
+#define wpi_proto_ProtobufDifferentialDriveKinematics_size 9
+#define wpi_proto_ProtobufDifferentialDriveWheelPositions_size 18
+#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_size 18
+#define wpi_proto_ProtobufMecanumDriveMotorVoltages_size 36
+#define wpi_proto_ProtobufMecanumDriveWheelPositions_size 36
+#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_size 36
+
+
+#endif

wpimath/src/generated/main/native/cpp/wpimath/protobuf/plant.npb.cpp

@@ -0,0 +1,93 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.9 */
+
+#include "plant.npb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+#include <span>
+#include <string_view>
+static const uint8_t file_descriptor[] {
+0x0a,0x0b,0x70,0x6c,0x61,0x6e,0x74,0x2e,0x70,0x72,
+0x6f,0x74,0x6f,0x12,0x09,0x77,0x70,0x69,0x2e,0x70,
+0x72,0x6f,0x74,0x6f,0x22,0xc4,0x01,0x0a,0x0f,0x50,
+0x72,0x6f,0x74,0x6f,0x62,0x75,0x66,0x44,0x43,0x4d,
+0x6f,0x74,0x6f,0x72,0x12,0x27,0x0a,0x0f,0x6e,0x6f,
+0x6d,0x69,0x6e,0x61,0x6c,0x5f,0x76,0x6f,0x6c,0x74,
+0x61,0x67,0x65,0x18,0x01,0x20,0x01,0x28,0x01,0x52,
+0x0e,0x6e,0x6f,0x6d,0x69,0x6e,0x61,0x6c,0x56,0x6f,
+0x6c,0x74,0x61,0x67,0x65,0x12,0x21,0x0a,0x0c,0x73,
+0x74,0x61,0x6c,0x6c,0x5f,0x74,0x6f,0x72,0x71,0x75,
+0x65,0x18,0x02,0x20,0x01,0x28,0x01,0x52,0x0b,0x73,
+0x74,0x61,0x6c,0x6c,0x54,0x6f,0x72,0x71,0x75,0x65,
+0x12,0x23,0x0a,0x0d,0x73,0x74,0x61,0x6c,0x6c,0x5f,
+0x63,0x75,0x72,0x72,0x65,0x6e,0x74,0x18,0x03,0x20,
+0x01,0x28,0x01,0x52,0x0c,0x73,0x74,0x61,0x6c,0x6c,
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+0x0c,0x01,0x0a,0x08,0x0a,0x01,0x0c,0x12,0x03,0x00,
+0x00,0x12,0x0a,0x08,0x0a,0x01,0x02,0x12,0x03,0x02,
+0x00,0x12,0x0a,0x08,0x0a,0x01,0x08,0x12,0x03,0x04,
+0x00,0x31,0x0a,0x09,0x0a,0x02,0x08,0x01,0x12,0x03,
+0x04,0x00,0x31,0x0a,0x0a,0x0a,0x02,0x04,0x00,0x12,
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+0x04,0x04,0x00,0x02,0x00,0x12,0x03,0x07,0x02,0x1d,
+0x0a,0x0c,0x0a,0x05,0x04,0x00,0x02,0x00,0x05,0x12,
+0x03,0x07,0x02,0x08,0x0a,0x0c,0x0a,0x05,0x04,0x00,
+0x02,0x00,0x01,0x12,0x03,0x07,0x09,0x18,0x0a,0x0c,
+0x0a,0x05,0x04,0x00,0x02,0x00,0x03,0x12,0x03,0x07,
+0x1b,0x1c,0x0a,0x0b,0x0a,0x04,0x04,0x00,0x02,0x01,
+0x12,0x03,0x08,0x02,0x1a,0x0a,0x0c,0x0a,0x05,0x04,
+0x00,0x02,0x01,0x05,0x12,0x03,0x08,0x02,0x08,0x0a,
+0x0c,0x0a,0x05,0x04,0x00,0x02,0x01,0x01,0x12,0x03,
+0x08,0x09,0x15,0x0a,0x0c,0x0a,0x05,0x04,0x00,0x02,
+0x01,0x03,0x12,0x03,0x08,0x18,0x19,0x0a,0x0b,0x0a,
+0x04,0x04,0x00,0x02,0x02,0x12,0x03,0x09,0x02,0x1b,
+0x0a,0x0c,0x0a,0x05,0x04,0x00,0x02,0x02,0x05,0x12,
+0x03,0x09,0x02,0x08,0x0a,0x0c,0x0a,0x05,0x04,0x00,
+0x02,0x02,0x01,0x12,0x03,0x09,0x09,0x16,0x0a,0x0c,
+0x0a,0x05,0x04,0x00,0x02,0x02,0x03,0x12,0x03,0x09,
+0x19,0x1a,0x0a,0x0b,0x0a,0x04,0x04,0x00,0x02,0x03,
+0x12,0x03,0x0a,0x02,0x1a,0x0a,0x0c,0x0a,0x05,0x04,
+0x00,0x02,0x03,0x05,0x12,0x03,0x0a,0x02,0x08,0x0a,
+0x0c,0x0a,0x05,0x04,0x00,0x02,0x03,0x01,0x12,0x03,
+0x0a,0x09,0x15,0x0a,0x0c,0x0a,0x05,0x04,0x00,0x02,
+0x03,0x03,0x12,0x03,0x0a,0x18,0x19,0x0a,0x0b,0x0a,
+0x04,0x04,0x00,0x02,0x04,0x12,0x03,0x0b,0x02,0x18,
+0x0a,0x0c,0x0a,0x05,0x04,0x00,0x02,0x04,0x05,0x12,
+0x03,0x0b,0x02,0x08,0x0a,0x0c,0x0a,0x05,0x04,0x00,
+0x02,0x04,0x01,0x12,0x03,0x0b,0x09,0x13,0x0a,0x0c,
+0x0a,0x05,0x04,0x00,0x02,0x04,0x03,0x12,0x03,0x0b,
+0x16,0x17,0x62,0x06,0x70,0x72,0x6f,0x74,0x6f,0x33,
+
+};
+static const char file_name[] = "plant.proto";
+static const char wpi_proto_ProtobufDCMotor_name[] = "wpi.proto.ProtobufDCMotor";
+std::string_view wpi_proto_ProtobufDCMotor::msg_name(void) noexcept { return wpi_proto_ProtobufDCMotor_name; }
+pb_filedesc_t wpi_proto_ProtobufDCMotor::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufDCMotor, wpi_proto_ProtobufDCMotor, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

wpimath/src/generated/main/native/cpp/wpimath/protobuf/plant.npb.h

@@ -0,0 +1,57 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.9 */
+
+#ifndef PB_WPI_PROTO_PLANT_NPB_H_INCLUDED
+#define PB_WPI_PROTO_PLANT_NPB_H_INCLUDED
+#include <pb.h>
+#include <span>
+#include <string_view>
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _wpi_proto_ProtobufDCMotor {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double nominal_voltage;
+    double stall_torque;
+    double stall_current;
+    double free_current;
+    double free_speed;
+} wpi_proto_ProtobufDCMotor;
+
+
+/* Initializer values for message structs */
+#define wpi_proto_ProtobufDCMotor_init_default   {0, 0, 0, 0, 0}
+#define wpi_proto_ProtobufDCMotor_init_zero      {0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define wpi_proto_ProtobufDCMotor_nominal_voltage_tag 1
+#define wpi_proto_ProtobufDCMotor_stall_torque_tag 2
+#define wpi_proto_ProtobufDCMotor_stall_current_tag 3
+#define wpi_proto_ProtobufDCMotor_free_current_tag 4
+#define wpi_proto_ProtobufDCMotor_free_speed_tag 5
+
+/* Struct field encoding specification for nanopb */
+#define wpi_proto_ProtobufDCMotor_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   nominal_voltage,   1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   stall_torque,      2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   stall_current,     3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   free_current,      4) \
+X(a, STATIC,   SINGULAR, DOUBLE,   free_speed,        5)
+#define wpi_proto_ProtobufDCMotor_CALLBACK NULL
+#define wpi_proto_ProtobufDCMotor_DEFAULT NULL
+
+/* Maximum encoded size of messages (where known) */
+#define WPI_PROTO_PLANT_NPB_H_MAX_SIZE           wpi_proto_ProtobufDCMotor_size
+#define wpi_proto_ProtobufDCMotor_size           45
+
+
+#endif

wpimath/src/generated/main/native/cpp/wpimath/protobuf/spline.npb.cpp

@@ -0,0 +1,137 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.9 */
+
+#include "spline.npb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+#include <span>
+#include <string_view>
+static const uint8_t file_descriptor[] {
+0x0a,0x0c,0x73,0x70,0x6c,0x69,0x6e,0x65,0x2e,0x70,
+0x72,0x6f,0x74,0x6f,0x12,0x09,0x77,0x70,0x69,0x2e,
+0x70,0x72,0x6f,0x74,0x6f,0x22,0x88,0x01,0x0a,0x1a,
+0x50,0x72,0x6f,0x74,0x6f,0x62,0x75,0x66,0x43,0x75,
+0x62,0x69,0x63,0x48,0x65,0x72,0x6d,0x69,0x74,0x65,
+0x53,0x70,0x6c,0x69,0x6e,0x65,0x12,0x1b,0x0a,0x09,
+0x78,0x5f,0x69,0x6e,0x69,0x74,0x69,0x61,0x6c,0x18,
+0x01,0x20,0x03,0x28,0x01,0x52,0x08,0x78,0x49,0x6e,
+0x69,0x74,0x69,0x61,0x6c,0x12,0x17,0x0a,0x07,0x78,
+0x5f,0x66,0x69,0x6e,0x61,0x6c,0x18,0x02,0x20,0x03,
+0x28,0x01,0x52,0x06,0x78,0x46,0x69,0x6e,0x61,0x6c,
+0x12,0x1b,0x0a,0x09,0x79,0x5f,0x69,0x6e,0x69,0x74,
+0x69,0x61,0x6c,0x18,0x03,0x20,0x03,0x28,0x01,0x52,
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+0x18,0x04,0x20,0x03,0x28,0x01,0x52,0x06,0x79,0x46,
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+0x09,0x78,0x5f,0x69,0x6e,0x69,0x74,0x69,0x61,0x6c,
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+0x78,0x5f,0x66,0x69,0x6e,0x61,0x6c,0x18,0x02,0x20,
+0x03,0x28,0x01,0x52,0x06,0x78,0x46,0x69,0x6e,0x61,
+0x6c,0x12,0x1b,0x0a,0x09,0x79,0x5f,0x69,0x6e,0x69,
+0x74,0x69,0x61,0x6c,0x18,0x03,0x20,0x03,0x28,0x01,
+0x52,0x08,0x79,0x49,0x6e,0x69,0x74,0x69,0x61,0x6c,
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+0x03,0x05,0x12,0x03,0x11,0x0b,0x11,0x0a,0x0c,0x0a,
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+0x74,0x6f,0x33,
+};
+static const char file_name[] = "spline.proto";
+static const char wpi_proto_ProtobufCubicHermiteSpline_name[] = "wpi.proto.ProtobufCubicHermiteSpline";
+std::string_view wpi_proto_ProtobufCubicHermiteSpline::msg_name(void) noexcept { return wpi_proto_ProtobufCubicHermiteSpline_name; }
+pb_filedesc_t wpi_proto_ProtobufCubicHermiteSpline::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufCubicHermiteSpline, wpi_proto_ProtobufCubicHermiteSpline, AUTO)
+
+
+static const char wpi_proto_ProtobufQuinticHermiteSpline_name[] = "wpi.proto.ProtobufQuinticHermiteSpline";
+std::string_view wpi_proto_ProtobufQuinticHermiteSpline::msg_name(void) noexcept { return wpi_proto_ProtobufQuinticHermiteSpline_name; }
+pb_filedesc_t wpi_proto_ProtobufQuinticHermiteSpline::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufQuinticHermiteSpline, wpi_proto_ProtobufQuinticHermiteSpline, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

wpimath/src/generated/main/native/cpp/wpimath/protobuf/spline.npb.h

@@ -0,0 +1,79 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.9 */
+
+#ifndef PB_WPI_PROTO_SPLINE_NPB_H_INCLUDED
+#define PB_WPI_PROTO_SPLINE_NPB_H_INCLUDED
+#include <pb.h>
+#include <span>
+#include <string_view>
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _wpi_proto_ProtobufCubicHermiteSpline {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t x_initial;
+    pb_callback_t x_final;
+    pb_callback_t y_initial;
+    pb_callback_t y_final;
+} wpi_proto_ProtobufCubicHermiteSpline;
+
+typedef struct _wpi_proto_ProtobufQuinticHermiteSpline {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t x_initial;
+    pb_callback_t x_final;
+    pb_callback_t y_initial;
+    pb_callback_t y_final;
+} wpi_proto_ProtobufQuinticHermiteSpline;
+
+
+/* Initializer values for message structs */
+#define wpi_proto_ProtobufCubicHermiteSpline_init_default {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufQuinticHermiteSpline_init_default {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufCubicHermiteSpline_init_zero {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufQuinticHermiteSpline_init_zero {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define wpi_proto_ProtobufCubicHermiteSpline_x_initial_tag 1
+#define wpi_proto_ProtobufCubicHermiteSpline_x_final_tag 2
+#define wpi_proto_ProtobufCubicHermiteSpline_y_initial_tag 3
+#define wpi_proto_ProtobufCubicHermiteSpline_y_final_tag 4
+#define wpi_proto_ProtobufQuinticHermiteSpline_x_initial_tag 1
+#define wpi_proto_ProtobufQuinticHermiteSpline_x_final_tag 2
+#define wpi_proto_ProtobufQuinticHermiteSpline_y_initial_tag 3
+#define wpi_proto_ProtobufQuinticHermiteSpline_y_final_tag 4
+
+/* Struct field encoding specification for nanopb */
+#define wpi_proto_ProtobufCubicHermiteSpline_FIELDLIST(X, a) \
+X(a, CALLBACK, REPEATED, DOUBLE,   x_initial,         1) \
+X(a, CALLBACK, REPEATED, DOUBLE,   x_final,           2) \
+X(a, CALLBACK, REPEATED, DOUBLE,   y_initial,         3) \
+X(a, CALLBACK, REPEATED, DOUBLE,   y_final,           4)
+#define wpi_proto_ProtobufCubicHermiteSpline_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufCubicHermiteSpline_DEFAULT NULL
+
+#define wpi_proto_ProtobufQuinticHermiteSpline_FIELDLIST(X, a) \
+X(a, CALLBACK, REPEATED, DOUBLE,   x_initial,         1) \
+X(a, CALLBACK, REPEATED, DOUBLE,   x_final,           2) \
+X(a, CALLBACK, REPEATED, DOUBLE,   y_initial,         3) \
+X(a, CALLBACK, REPEATED, DOUBLE,   y_final,           4)
+#define wpi_proto_ProtobufQuinticHermiteSpline_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufQuinticHermiteSpline_DEFAULT NULL
+
+/* Maximum encoded size of messages (where known) */
+/* wpi_proto_ProtobufCubicHermiteSpline_size depends on runtime parameters */
+/* wpi_proto_ProtobufQuinticHermiteSpline_size depends on runtime parameters */
+
+
+#endif

wpimath/src/generated/main/native/cpp/wpimath/protobuf/system.npb.cpp

@@ -0,0 +1,107 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.9 */
+
+#include "system.npb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+#include <span>
+#include <string_view>
+static const uint8_t file_descriptor[] {
+0x0a,0x0c,0x73,0x79,0x73,0x74,0x65,0x6d,0x2e,0x70,
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+0x06,0x12,0x03,0x0f,0x02,0x10,0x0a,0x0c,0x0a,0x05,
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+0x03,0x0f,0x15,0x16,0x62,0x06,0x70,0x72,0x6f,0x74,
+0x6f,0x33,
+};
+static const char file_name[] = "system.proto";
+static const char wpi_proto_ProtobufLinearSystem_name[] = "wpi.proto.ProtobufLinearSystem";
+std::string_view wpi_proto_ProtobufLinearSystem::msg_name(void) noexcept { return wpi_proto_ProtobufLinearSystem_name; }
+pb_filedesc_t wpi_proto_ProtobufLinearSystem::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufLinearSystem, wpi_proto_ProtobufLinearSystem, AUTO)
+
+
+

wpimath/src/generated/main/native/cpp/wpimath/protobuf/system.npb.h

@@ -0,0 +1,67 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.9 */
+
+#ifndef PB_WPI_PROTO_SYSTEM_NPB_H_INCLUDED
+#define PB_WPI_PROTO_SYSTEM_NPB_H_INCLUDED
+#include <pb.h>
+#include <span>
+#include <string_view>
+#include "wpimath.npb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _wpi_proto_ProtobufLinearSystem {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    uint32_t num_states;
+    uint32_t num_inputs;
+    uint32_t num_outputs;
+    pb_callback_t a;
+    pb_callback_t b;
+    pb_callback_t c;
+    pb_callback_t d;
+} wpi_proto_ProtobufLinearSystem;
+
+
+/* Initializer values for message structs */
+#define wpi_proto_ProtobufLinearSystem_init_default {0, 0, 0, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
+#define wpi_proto_ProtobufLinearSystem_init_zero {0, 0, 0, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define wpi_proto_ProtobufLinearSystem_num_states_tag 1
+#define wpi_proto_ProtobufLinearSystem_num_inputs_tag 2
+#define wpi_proto_ProtobufLinearSystem_num_outputs_tag 3
+#define wpi_proto_ProtobufLinearSystem_a_tag     4
+#define wpi_proto_ProtobufLinearSystem_b_tag     5
+#define wpi_proto_ProtobufLinearSystem_c_tag     6
+#define wpi_proto_ProtobufLinearSystem_d_tag     7
+
+/* Struct field encoding specification for nanopb */
+#define wpi_proto_ProtobufLinearSystem_FIELDLIST(X, a_) \
+X(a_, STATIC,   SINGULAR, UINT32,   num_states,        1) \
+X(a_, STATIC,   SINGULAR, UINT32,   num_inputs,        2) \
+X(a_, STATIC,   SINGULAR, UINT32,   num_outputs,       3) \
+X(a_, CALLBACK, OPTIONAL, MESSAGE,  a,                 4) \
+X(a_, CALLBACK, OPTIONAL, MESSAGE,  b,                 5) \
+X(a_, CALLBACK, OPTIONAL, MESSAGE,  c,                 6) \
+X(a_, CALLBACK, OPTIONAL, MESSAGE,  d,                 7)
+#define wpi_proto_ProtobufLinearSystem_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufLinearSystem_DEFAULT NULL
+#define wpi_proto_ProtobufLinearSystem_a_MSGTYPE wpi_proto_ProtobufMatrix
+#define wpi_proto_ProtobufLinearSystem_b_MSGTYPE wpi_proto_ProtobufMatrix
+#define wpi_proto_ProtobufLinearSystem_c_MSGTYPE wpi_proto_ProtobufMatrix
+#define wpi_proto_ProtobufLinearSystem_d_MSGTYPE wpi_proto_ProtobufMatrix
+
+/* Maximum encoded size of messages (where known) */
+/* wpi_proto_ProtobufLinearSystem_size depends on runtime parameters */
+
+
+#endif

wpimath/src/generated/main/native/cpp/wpimath/protobuf/trajectory.npb.cpp

@@ -0,0 +1,118 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.9 */
+
+#include "trajectory.npb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+#include <span>
+#include <string_view>
+static const uint8_t file_descriptor[] {
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+0x08,0x1a,0x0a,0x0b,0x0a,0x04,0x04,0x01,0x02,0x00,
+0x12,0x03,0x11,0x02,0x2e,0x0a,0x0c,0x0a,0x05,0x04,
+0x01,0x02,0x00,0x04,0x12,0x03,0x11,0x02,0x0a,0x0a,
+0x0c,0x0a,0x05,0x04,0x01,0x02,0x00,0x06,0x12,0x03,
+0x11,0x0b,0x22,0x0a,0x0c,0x0a,0x05,0x04,0x01,0x02,
+0x00,0x01,0x12,0x03,0x11,0x23,0x29,0x0a,0x0c,0x0a,
+0x05,0x04,0x01,0x02,0x00,0x03,0x12,0x03,0x11,0x2c,
+0x2d,0x62,0x06,0x70,0x72,0x6f,0x74,0x6f,0x33,
+};
+static const char file_name[] = "trajectory.proto";
+static const char wpi_proto_ProtobufTrajectoryState_name[] = "wpi.proto.ProtobufTrajectoryState";
+std::string_view wpi_proto_ProtobufTrajectoryState::msg_name(void) noexcept { return wpi_proto_ProtobufTrajectoryState_name; }
+pb_filedesc_t wpi_proto_ProtobufTrajectoryState::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufTrajectoryState, wpi_proto_ProtobufTrajectoryState, AUTO)
+
+
+static const char wpi_proto_ProtobufTrajectory_name[] = "wpi.proto.ProtobufTrajectory";
+std::string_view wpi_proto_ProtobufTrajectory::msg_name(void) noexcept { return wpi_proto_ProtobufTrajectory_name; }
+pb_filedesc_t wpi_proto_ProtobufTrajectory::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufTrajectory, wpi_proto_ProtobufTrajectory, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

wpimath/src/generated/main/native/cpp/wpimath/protobuf/trajectory.npb.h

@@ -0,0 +1,76 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.9 */
+
+#ifndef PB_WPI_PROTO_TRAJECTORY_NPB_H_INCLUDED
+#define PB_WPI_PROTO_TRAJECTORY_NPB_H_INCLUDED
+#include <pb.h>
+#include <span>
+#include <string_view>
+#include "geometry2d.npb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _wpi_proto_ProtobufTrajectoryState {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    double time;
+    double velocity;
+    double acceleration;
+    pb_callback_t pose;
+    double curvature;
+} wpi_proto_ProtobufTrajectoryState;
+
+typedef struct _wpi_proto_ProtobufTrajectory {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t states;
+} wpi_proto_ProtobufTrajectory;
+
+
+/* Initializer values for message structs */
+#define wpi_proto_ProtobufTrajectoryState_init_default {0, 0, 0, {{NULL}, NULL}, 0}
+#define wpi_proto_ProtobufTrajectory_init_default {{{NULL}, NULL}}
+#define wpi_proto_ProtobufTrajectoryState_init_zero {0, 0, 0, {{NULL}, NULL}, 0}
+#define wpi_proto_ProtobufTrajectory_init_zero   {{{NULL}, NULL}}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define wpi_proto_ProtobufTrajectoryState_time_tag 1
+#define wpi_proto_ProtobufTrajectoryState_velocity_tag 2
+#define wpi_proto_ProtobufTrajectoryState_acceleration_tag 3
+#define wpi_proto_ProtobufTrajectoryState_pose_tag 4
+#define wpi_proto_ProtobufTrajectoryState_curvature_tag 5
+#define wpi_proto_ProtobufTrajectory_states_tag  2
+
+/* Struct field encoding specification for nanopb */
+#define wpi_proto_ProtobufTrajectoryState_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   time,              1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   velocity,          2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   acceleration,      3) \
+X(a, CALLBACK, OPTIONAL, MESSAGE,  pose,              4) \
+X(a, STATIC,   SINGULAR, DOUBLE,   curvature,         5)
+#define wpi_proto_ProtobufTrajectoryState_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufTrajectoryState_DEFAULT NULL
+#define wpi_proto_ProtobufTrajectoryState_pose_MSGTYPE wpi_proto_ProtobufPose2d
+
+#define wpi_proto_ProtobufTrajectory_FIELDLIST(X, a) \
+X(a, CALLBACK, REPEATED, MESSAGE,  states,            2)
+#define wpi_proto_ProtobufTrajectory_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufTrajectory_DEFAULT NULL
+#define wpi_proto_ProtobufTrajectory_states_MSGTYPE wpi_proto_ProtobufTrajectoryState
+
+/* Maximum encoded size of messages (where known) */
+/* wpi_proto_ProtobufTrajectoryState_size depends on runtime parameters */
+/* wpi_proto_ProtobufTrajectory_size depends on runtime parameters */
+
+
+#endif

wpimath/src/generated/main/native/cpp/wpimath/protobuf/wpimath.npb.cpp

@@ -0,0 +1,92 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.9 */
+
+#include "wpimath.npb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+#include <span>
+#include <string_view>
+static const uint8_t file_descriptor[] {
+0x0a,0x0d,0x77,0x70,0x69,0x6d,0x61,0x74,0x68,0x2e,
+0x70,0x72,0x6f,0x74,0x6f,0x12,0x09,0x77,0x70,0x69,
+0x2e,0x70,0x72,0x6f,0x74,0x6f,0x22,0x5a,0x0a,0x0e,
+0x50,0x72,0x6f,0x74,0x6f,0x62,0x75,0x66,0x4d,0x61,
+0x74,0x72,0x69,0x78,0x12,0x19,0x0a,0x08,0x6e,0x75,
+0x6d,0x5f,0x72,0x6f,0x77,0x73,0x18,0x01,0x20,0x01,
+0x28,0x0d,0x52,0x07,0x6e,0x75,0x6d,0x52,0x6f,0x77,
+0x73,0x12,0x19,0x0a,0x08,0x6e,0x75,0x6d,0x5f,0x63,
+0x6f,0x6c,0x73,0x18,0x02,0x20,0x01,0x28,0x0d,0x52,
+0x07,0x6e,0x75,0x6d,0x43,0x6f,0x6c,0x73,0x12,0x12,
+0x0a,0x04,0x64,0x61,0x74,0x61,0x18,0x03,0x20,0x03,
+0x28,0x01,0x52,0x04,0x64,0x61,0x74,0x61,0x22,0x24,
+0x0a,0x0e,0x50,0x72,0x6f,0x74,0x6f,0x62,0x75,0x66,
+0x56,0x65,0x63,0x74,0x6f,0x72,0x12,0x12,0x0a,0x04,
+0x72,0x6f,0x77,0x73,0x18,0x01,0x20,0x03,0x28,0x01,
+0x52,0x04,0x72,0x6f,0x77,0x73,0x42,0x1a,0x0a,0x18,
+0x65,0x64,0x75,0x2e,0x77,0x70,0x69,0x2e,0x66,0x69,
+0x72,0x73,0x74,0x2e,0x6d,0x61,0x74,0x68,0x2e,0x70,
+0x72,0x6f,0x74,0x6f,0x4a,0xd9,0x02,0x0a,0x06,0x12,
+0x04,0x00,0x00,0x0e,0x01,0x0a,0x08,0x0a,0x01,0x0c,
+0x12,0x03,0x00,0x00,0x12,0x0a,0x08,0x0a,0x01,0x02,
+0x12,0x03,0x02,0x00,0x12,0x0a,0x08,0x0a,0x01,0x08,
+0x12,0x03,0x04,0x00,0x31,0x0a,0x09,0x0a,0x02,0x08,
+0x01,0x12,0x03,0x04,0x00,0x31,0x0a,0x0a,0x0a,0x02,
+0x04,0x00,0x12,0x04,0x06,0x00,0x0a,0x01,0x0a,0x0a,
+0x0a,0x03,0x04,0x00,0x01,0x12,0x03,0x06,0x08,0x16,
+0x0a,0x0b,0x0a,0x04,0x04,0x00,0x02,0x00,0x12,0x03,
+0x07,0x02,0x16,0x0a,0x0c,0x0a,0x05,0x04,0x00,0x02,
+0x00,0x05,0x12,0x03,0x07,0x02,0x08,0x0a,0x0c,0x0a,
+0x05,0x04,0x00,0x02,0x00,0x01,0x12,0x03,0x07,0x09,
+0x11,0x0a,0x0c,0x0a,0x05,0x04,0x00,0x02,0x00,0x03,
+0x12,0x03,0x07,0x14,0x15,0x0a,0x0b,0x0a,0x04,0x04,
+0x00,0x02,0x01,0x12,0x03,0x08,0x02,0x16,0x0a,0x0c,
+0x0a,0x05,0x04,0x00,0x02,0x01,0x05,0x12,0x03,0x08,
+0x02,0x08,0x0a,0x0c,0x0a,0x05,0x04,0x00,0x02,0x01,
+0x01,0x12,0x03,0x08,0x09,0x11,0x0a,0x0c,0x0a,0x05,
+0x04,0x00,0x02,0x01,0x03,0x12,0x03,0x08,0x14,0x15,
+0x0a,0x0b,0x0a,0x04,0x04,0x00,0x02,0x02,0x12,0x03,
+0x09,0x02,0x1b,0x0a,0x0c,0x0a,0x05,0x04,0x00,0x02,
+0x02,0x04,0x12,0x03,0x09,0x02,0x0a,0x0a,0x0c,0x0a,
+0x05,0x04,0x00,0x02,0x02,0x05,0x12,0x03,0x09,0x0b,
+0x11,0x0a,0x0c,0x0a,0x05,0x04,0x00,0x02,0x02,0x01,
+0x12,0x03,0x09,0x12,0x16,0x0a,0x0c,0x0a,0x05,0x04,
+0x00,0x02,0x02,0x03,0x12,0x03,0x09,0x19,0x1a,0x0a,
+0x0a,0x0a,0x02,0x04,0x01,0x12,0x04,0x0c,0x00,0x0e,
+0x01,0x0a,0x0a,0x0a,0x03,0x04,0x01,0x01,0x12,0x03,
+0x0c,0x08,0x16,0x0a,0x0b,0x0a,0x04,0x04,0x01,0x02,
+0x00,0x12,0x03,0x0d,0x02,0x1b,0x0a,0x0c,0x0a,0x05,
+0x04,0x01,0x02,0x00,0x04,0x12,0x03,0x0d,0x02,0x0a,
+0x0a,0x0c,0x0a,0x05,0x04,0x01,0x02,0x00,0x05,0x12,
+0x03,0x0d,0x0b,0x11,0x0a,0x0c,0x0a,0x05,0x04,0x01,
+0x02,0x00,0x01,0x12,0x03,0x0d,0x12,0x16,0x0a,0x0c,
+0x0a,0x05,0x04,0x01,0x02,0x00,0x03,0x12,0x03,0x0d,
+0x19,0x1a,0x62,0x06,0x70,0x72,0x6f,0x74,0x6f,0x33,
+
+};
+static const char file_name[] = "wpimath.proto";
+static const char wpi_proto_ProtobufMatrix_name[] = "wpi.proto.ProtobufMatrix";
+std::string_view wpi_proto_ProtobufMatrix::msg_name(void) noexcept { return wpi_proto_ProtobufMatrix_name; }
+pb_filedesc_t wpi_proto_ProtobufMatrix::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufMatrix, wpi_proto_ProtobufMatrix, AUTO)
+
+
+static const char wpi_proto_ProtobufVector_name[] = "wpi.proto.ProtobufVector";
+std::string_view wpi_proto_ProtobufVector::msg_name(void) noexcept { return wpi_proto_ProtobufVector_name; }
+pb_filedesc_t wpi_proto_ProtobufVector::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(wpi_proto_ProtobufVector, wpi_proto_ProtobufVector, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

wpimath/src/generated/main/native/cpp/wpimath/protobuf/wpimath.npb.h

@@ -0,0 +1,67 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.9 */
+
+#ifndef PB_WPI_PROTO_WPIMATH_NPB_H_INCLUDED
+#define PB_WPI_PROTO_WPIMATH_NPB_H_INCLUDED
+#include <pb.h>
+#include <span>
+#include <string_view>
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _wpi_proto_ProtobufMatrix {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    uint32_t num_rows;
+    uint32_t num_cols;
+    pb_callback_t data;
+} wpi_proto_ProtobufMatrix;
+
+typedef struct _wpi_proto_ProtobufVector {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t rows;
+} wpi_proto_ProtobufVector;
+
+
+/* Initializer values for message structs */
+#define wpi_proto_ProtobufMatrix_init_default    {0, 0, {{NULL}, NULL}}
+#define wpi_proto_ProtobufVector_init_default    {{{NULL}, NULL}}
+#define wpi_proto_ProtobufMatrix_init_zero       {0, 0, {{NULL}, NULL}}
+#define wpi_proto_ProtobufVector_init_zero       {{{NULL}, NULL}}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define wpi_proto_ProtobufMatrix_num_rows_tag    1
+#define wpi_proto_ProtobufMatrix_num_cols_tag    2
+#define wpi_proto_ProtobufMatrix_data_tag        3
+#define wpi_proto_ProtobufVector_rows_tag        1
+
+/* Struct field encoding specification for nanopb */
+#define wpi_proto_ProtobufMatrix_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, UINT32,   num_rows,          1) \
+X(a, STATIC,   SINGULAR, UINT32,   num_cols,          2) \
+X(a, CALLBACK, REPEATED, DOUBLE,   data,              3)
+#define wpi_proto_ProtobufMatrix_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufMatrix_DEFAULT NULL
+
+#define wpi_proto_ProtobufVector_FIELDLIST(X, a) \
+X(a, CALLBACK, REPEATED, DOUBLE,   rows,              1)
+#define wpi_proto_ProtobufVector_CALLBACK pb_default_field_callback
+#define wpi_proto_ProtobufVector_DEFAULT NULL
+
+/* Maximum encoded size of messages (where known) */
+/* wpi_proto_ProtobufMatrix_size depends on runtime parameters */
+/* wpi_proto_ProtobufVector_size depends on runtime parameters */
+
+
+#endif

wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp

@@ -4,31 +4,33 @@
 
 #include "frc/controller/proto/ArmFeedforwardProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <optional>
 
-#include "controller.pb.h"
+#include "wpimath/protobuf/controller.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::ArmFeedforward>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufArmFeedforward>(arena);
-}
+std::optional<frc::ArmFeedforward> wpi::Protobuf<frc::ArmFeedforward>::Unpack(
+    InputStream& stream) {
+  wpi_proto_ProtobufArmFeedforward msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-frc::ArmFeedforward wpi::Protobuf<frc::ArmFeedforward>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufArmFeedforward*>(&msg);
   return frc::ArmFeedforward{
-      units::volt_t{m->ks()},
-      units::volt_t{m->kg()},
-      units::unit_t<frc::ArmFeedforward::kv_unit>{m->kv()},
-      units::unit_t<frc::ArmFeedforward::ka_unit>{m->ka()},
+      units::volt_t{msg.ks},
+      units::volt_t{msg.kg},
+      units::unit_t<frc::ArmFeedforward::kv_unit>{msg.kv},
+      units::unit_t<frc::ArmFeedforward::ka_unit>{msg.ka},
   };
 }
 
-void wpi::Protobuf<frc::ArmFeedforward>::Pack(
-    google::protobuf::Message* msg, const frc::ArmFeedforward& value) {
-  auto m = static_cast<wpi::proto::ProtobufArmFeedforward*>(msg);
-  m->set_ks(value.GetKs().value());
-  m->set_kg(value.GetKg().value());
-  m->set_kv(value.GetKv().value());
-  m->set_ka(value.GetKa().value());
+bool wpi::Protobuf<frc::ArmFeedforward>::Pack(
+    OutputStream& stream, const frc::ArmFeedforward& value) {
+  wpi_proto_ProtobufArmFeedforward msg{
+      .ks = value.GetKs().value(),
+      .kg = value.GetKg().value(),
+      .kv = value.GetKv().value(),
+      .ka = value.GetKa().value(),
+      .dt = 0,
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp

@@ -4,33 +4,30 @@
 
 #include "frc/controller/proto/DifferentialDriveFeedforwardProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/controller.npb.h"
 
-#include "controller.pb.h"
+std::optional<frc::DifferentialDriveFeedforward>
+wpi::Protobuf<frc::DifferentialDriveFeedforward>::Unpack(InputStream& stream) {
+  wpi_proto_ProtobufDifferentialDriveFeedforward msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<
-    frc::DifferentialDriveFeedforward>::New(google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufDifferentialDriveFeedforward>(
-      arena);
+  return frc::DifferentialDriveFeedforward{
+      decltype(1_V / 1_mps){msg.kv_linear},
+      decltype(1_V / 1_mps_sq){msg.ka_linear},
+      decltype(1_V / 1_mps){msg.kv_angular},
+      decltype(1_V / 1_mps_sq){msg.ka_angular},
+  };
 }
 
-frc::DifferentialDriveFeedforward
-wpi::Protobuf<frc::DifferentialDriveFeedforward>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufDifferentialDriveFeedforward*>(
-      &msg);
-  return {decltype(1_V / 1_mps){m->kv_linear()},
-          decltype(1_V / 1_mps_sq){m->ka_linear()},
-          decltype(1_V / 1_mps){m->kv_angular()},
-          decltype(1_V / 1_mps_sq){m->ka_angular()}};
-}
-
-void wpi::Protobuf<frc::DifferentialDriveFeedforward>::Pack(
-    google::protobuf::Message* msg,
-    const frc::DifferentialDriveFeedforward& value) {
-  auto m = static_cast<wpi::proto::ProtobufDifferentialDriveFeedforward*>(msg);
-  m->set_kv_linear(value.m_kVLinear.value());
-  m->set_ka_linear(value.m_kALinear.value());
-  m->set_kv_angular(value.m_kVAngular.value());
-  m->set_ka_angular(value.m_kAAngular.value());
+bool wpi::Protobuf<frc::DifferentialDriveFeedforward>::Pack(
+    OutputStream& stream, const frc::DifferentialDriveFeedforward& value) {
+  wpi_proto_ProtobufDifferentialDriveFeedforward msg{
+      .kv_linear = value.m_kVLinear.value(),
+      .ka_linear = value.m_kALinear.value(),
+      .kv_angular = value.m_kVAngular.value(),
+      .ka_angular = value.m_kAAngular.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProto.cpp

@@ -4,33 +4,28 @@
 
 #include "frc/controller/proto/DifferentialDriveWheelVoltagesProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <optional>
 
-#include "controller.pb.h"
+#include "wpimath/protobuf/controller.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<
-    frc::DifferentialDriveWheelVoltages>::New(google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufDifferentialDriveWheelVoltages>(
-      arena);
-}
+std::optional<frc::DifferentialDriveWheelVoltages> wpi::Protobuf<
+    frc::DifferentialDriveWheelVoltages>::Unpack(InputStream& stream) {
+  wpi_proto_ProtobufDifferentialDriveWheelVoltages msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-frc::DifferentialDriveWheelVoltages
-wpi::Protobuf<frc::DifferentialDriveWheelVoltages>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m =
-      static_cast<const wpi::proto::ProtobufDifferentialDriveWheelVoltages*>(
-          &msg);
   return frc::DifferentialDriveWheelVoltages{
-      units::volt_t{m->left()},
-      units::volt_t{m->right()},
+      units::volt_t{msg.left},
+      units::volt_t{msg.right},
   };
 }
 
-void wpi::Protobuf<frc::DifferentialDriveWheelVoltages>::Pack(
-    google::protobuf::Message* msg,
-    const frc::DifferentialDriveWheelVoltages& value) {
-  auto m =
-      static_cast<wpi::proto::ProtobufDifferentialDriveWheelVoltages*>(msg);
-  m->set_left(value.left.value());
-  m->set_right(value.right.value());
+bool wpi::Protobuf<frc::DifferentialDriveWheelVoltages>::Pack(
+    OutputStream& stream, const frc::DifferentialDriveWheelVoltages& value) {
+  wpi_proto_ProtobufDifferentialDriveWheelVoltages msg{
+      .left = value.left.value(),
+      .right = value.right.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp

@@ -4,31 +4,33 @@
 
 #include "frc/controller/proto/ElevatorFeedforwardProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <optional>
 
-#include "controller.pb.h"
+#include "wpimath/protobuf/controller.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::ElevatorFeedforward>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufElevatorFeedforward>(arena);
-}
+std::optional<frc::ElevatorFeedforward>
+wpi::Protobuf<frc::ElevatorFeedforward>::Unpack(InputStream& stream) {
+  wpi_proto_ProtobufElevatorFeedforward msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-frc::ElevatorFeedforward wpi::Protobuf<frc::ElevatorFeedforward>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufElevatorFeedforward*>(&msg);
   return frc::ElevatorFeedforward{
-      units::volt_t{m->ks()},
-      units::volt_t{m->kg()},
-      units::unit_t<frc::ElevatorFeedforward::kv_unit>{m->kv()},
-      units::unit_t<frc::ElevatorFeedforward::ka_unit>{m->ka()},
+      units::volt_t{msg.ks},
+      units::volt_t{msg.kg},
+      units::unit_t<frc::ElevatorFeedforward::kv_unit>{msg.kv},
+      units::unit_t<frc::ElevatorFeedforward::ka_unit>{msg.ka},
   };
 }
 
-void wpi::Protobuf<frc::ElevatorFeedforward>::Pack(
-    google::protobuf::Message* msg, const frc::ElevatorFeedforward& value) {
-  auto m = static_cast<wpi::proto::ProtobufElevatorFeedforward*>(msg);
-  m->set_ks(value.GetKs().value());
-  m->set_kg(value.GetKg().value());
-  m->set_kv(value.GetKv().value());
-  m->set_ka(value.GetKa().value());
+bool wpi::Protobuf<frc::ElevatorFeedforward>::Pack(
+    OutputStream& stream, const frc::ElevatorFeedforward& value) {
+  wpi_proto_ProtobufElevatorFeedforward msg{
+      .ks = value.GetKs().value(),
+      .kg = value.GetKg().value(),
+      .kv = value.GetKv().value(),
+      .ka = value.GetKa().value(),
+      .dt = 0,
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Ellipse2dProto.cpp

@@ -4,29 +4,42 @@
 
 #include "frc/geometry/proto/Ellipse2dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "geometry2d.pb.h"
+#include "wpimath/protobuf/geometry2d.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::Ellipse2d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufEllipse2d>(arena);
-}
+std::optional<frc::Ellipse2d> wpi::Protobuf<frc::Ellipse2d>::Unpack(
+    InputStream& stream) {
+  wpi::UnpackCallback<frc::Pose2d> pose;
+  wpi_proto_ProtobufEllipse2d msg{
+      .center = pose.Callback(),
+      .xSemiAxis = 0,
+      .ySemiAxis = 0,
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  auto ipose = pose.Items();
+
+  if (ipose.empty()) {
+    return {};
+  }
 
-frc::Ellipse2d wpi::Protobuf<frc::Ellipse2d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufEllipse2d*>(&msg);
   return frc::Ellipse2d{
-      wpi::UnpackProtobuf<frc::Pose2d>(m->wpi_center()),
-      units::meter_t{m->xsemiaxis()},
-      units::meter_t{m->ysemiaxis()},
+      ipose[0],
+      units::meter_t{msg.xSemiAxis},
+      units::meter_t{msg.ySemiAxis},
   };
 }
 
-void wpi::Protobuf<frc::Ellipse2d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Ellipse2d>::Pack(OutputStream& stream,
                                          const frc::Ellipse2d& value) {
-  auto m = static_cast<wpi::proto::ProtobufEllipse2d*>(msg);
-  wpi::PackProtobuf(m->mutable_center(), value.Center());
-  m->set_xsemiaxis(value.XSemiAxis().value());
-  m->set_ysemiaxis(value.YSemiAxis().value());
+  wpi::PackCallback pose{&value.Center()};
+  wpi_proto_ProtobufEllipse2d msg{
+      .center = pose.Callback(),
+      .xSemiAxis = value.XSemiAxis().value(),
+      .ySemiAxis = value.YSemiAxis().value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Pose2dProto.cpp

@@ -4,27 +4,42 @@
 
 #include "frc/geometry/proto/Pose2dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "geometry2d.pb.h"
+#include "wpimath/protobuf/geometry2d.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::Pose2d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufPose2d>(arena);
-}
+std::optional<frc::Pose2d> wpi::Protobuf<frc::Pose2d>::Unpack(
+    InputStream& stream) {
+  wpi::UnpackCallback<frc::Translation2d> tsln;
+  wpi::UnpackCallback<frc::Rotation2d> rot;
+  wpi_proto_ProtobufPose2d msg{
+      .translation = tsln.Callback(),
+      .rotation = rot.Callback(),
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  auto itsln = tsln.Items();
+  auto irot = rot.Items();
+
+  if (itsln.empty() || irot.empty()) {
+    return {};
+  }
 
-frc::Pose2d wpi::Protobuf<frc::Pose2d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufPose2d*>(&msg);
   return frc::Pose2d{
-      wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_translation()),
-      wpi::UnpackProtobuf<frc::Rotation2d>(m->wpi_rotation()),
+      itsln[0],
+      irot[0],
   };
 }
 
-void wpi::Protobuf<frc::Pose2d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Pose2d>::Pack(OutputStream& stream,
                                       const frc::Pose2d& value) {
-  auto m = static_cast<wpi::proto::ProtobufPose2d*>(msg);
-  wpi::PackProtobuf(m->mutable_translation(), value.Translation());
-  wpi::PackProtobuf(m->mutable_rotation(), value.Rotation());
+  wpi::PackCallback tsln{&value.Translation()};
+  wpi::PackCallback rot{&value.Rotation()};
+  wpi_proto_ProtobufPose2d msg{
+      .translation = tsln.Callback(),
+      .rotation = rot.Callback(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Pose3dProto.cpp

@@ -4,27 +4,44 @@
 
 #include "frc/geometry/proto/Pose3dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/Protobuf.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "geometry3d.pb.h"
+#include "frc/geometry/Pose3d.h"
+#include "wpimath/protobuf/geometry3d.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::Pose3d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufPose3d>(arena);
-}
+std::optional<frc::Pose3d> wpi::Protobuf<frc::Pose3d>::Unpack(
+    InputStream& stream) {
+  wpi::UnpackCallback<frc::Translation3d> tsln;
+  wpi::UnpackCallback<frc::Rotation3d> rot;
+  wpi_proto_ProtobufPose3d msg{
+      .translation = tsln.Callback(),
+      .rotation = rot.Callback(),
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  auto itsln = tsln.Items();
+  auto irot = rot.Items();
+
+  if (itsln.empty() || irot.empty()) {
+    return {};
+  }
 
-frc::Pose3d wpi::Protobuf<frc::Pose3d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufPose3d*>(&msg);
   return frc::Pose3d{
-      wpi::UnpackProtobuf<frc::Translation3d>(m->wpi_translation()),
-      wpi::UnpackProtobuf<frc::Rotation3d>(m->wpi_rotation()),
+      itsln[0],
+      irot[0],
   };
 }
 
-void wpi::Protobuf<frc::Pose3d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Pose3d>::Pack(OutputStream& stream,
                                       const frc::Pose3d& value) {
-  auto m = static_cast<wpi::proto::ProtobufPose3d*>(msg);
-  wpi::PackProtobuf(m->mutable_translation(), value.Translation());
-  wpi::PackProtobuf(m->mutable_rotation(), value.Rotation());
+  wpi::PackCallback tsln{&value.Translation()};
+  wpi::PackCallback rot{&value.Rotation()};
+  wpi_proto_ProtobufPose3d msg{
+      .translation = tsln.Callback(),
+      .rotation = rot.Callback(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/QuaternionProto.cpp

@@ -4,31 +4,30 @@
 
 #include "frc/geometry/proto/QuaternionProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/geometry3d.npb.h"
 
-#include "geometry3d.pb.h"
+std::optional<frc::Quaternion> wpi::Protobuf<frc::Quaternion>::Unpack(
+    InputStream& stream) {
+  wpi_proto_ProtobufQuaternion msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<frc::Quaternion>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufQuaternion>(arena);
-}
-
-frc::Quaternion wpi::Protobuf<frc::Quaternion>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufQuaternion*>(&msg);
   return frc::Quaternion{
-      m->w(),
-      m->x(),
-      m->y(),
-      m->z(),
+      msg.w,
+      msg.x,
+      msg.y,
+      msg.z,
   };
 }
 
-void wpi::Protobuf<frc::Quaternion>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Quaternion>::Pack(OutputStream& stream,
                                           const frc::Quaternion& value) {
-  auto m = static_cast<wpi::proto::ProtobufQuaternion*>(msg);
-  m->set_w(value.W());
-  m->set_x(value.X());
-  m->set_y(value.Y());
-  m->set_z(value.Z());
+  wpi_proto_ProtobufQuaternion msg{
+      .w = value.W(),
+      .x = value.X(),
+      .y = value.Y(),
+      .z = value.Z(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Rectangle2dProto.cpp

@@ -4,29 +4,42 @@
 
 #include "frc/geometry/proto/Rectangle2dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "geometry2d.pb.h"
+#include "wpimath/protobuf/geometry2d.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::Rectangle2d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufRectangle2d>(arena);
-}
+std::optional<frc::Rectangle2d> wpi::Protobuf<frc::Rectangle2d>::Unpack(
+    InputStream& stream) {
+  wpi::UnpackCallback<frc::Pose2d> pose;
+  wpi_proto_ProtobufRectangle2d msg{
+      .center = pose.Callback(),
+      .xWidth = 0,
+      .yWidth = 0,
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  auto ipose = pose.Items();
+
+  if (ipose.empty()) {
+    return {};
+  }
 
-frc::Rectangle2d wpi::Protobuf<frc::Rectangle2d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufRectangle2d*>(&msg);
   return frc::Rectangle2d{
-      wpi::UnpackProtobuf<frc::Pose2d>(m->wpi_center()),
-      units::meter_t{m->xwidth()},
-      units::meter_t{m->ywidth()},
+      ipose[0],
+      units::meter_t{msg.xWidth},
+      units::meter_t{msg.yWidth},
   };
 }
 
-void wpi::Protobuf<frc::Rectangle2d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Rectangle2d>::Pack(OutputStream& stream,
                                            const frc::Rectangle2d& value) {
-  auto m = static_cast<wpi::proto::ProtobufRectangle2d*>(msg);
-  wpi::PackProtobuf(m->mutable_center(), value.Center());
-  m->set_xwidth(value.XWidth().value());
-  m->set_ywidth(value.YWidth().value());
+  wpi::PackCallback pose{&value.Center()};
+  wpi_proto_ProtobufRectangle2d msg{
+      .center = pose.Callback(),
+      .xWidth = value.XWidth().value(),
+      .yWidth = value.YWidth().value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Rotation2dProto.cpp

@@ -4,25 +4,24 @@
 
 #include "frc/geometry/proto/Rotation2dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/geometry2d.npb.h"
 
-#include "geometry2d.pb.h"
+std::optional<frc::Rotation2d> wpi::Protobuf<frc::Rotation2d>::Unpack(
+    InputStream& stream) {
+  wpi_proto_ProtobufRotation2d msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<frc::Rotation2d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufRotation2d>(arena);
-}
-
-frc::Rotation2d wpi::Protobuf<frc::Rotation2d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufRotation2d*>(&msg);
   return frc::Rotation2d{
-      units::radian_t{m->value()},
+      units::radian_t{msg.value},
   };
 }
 
-void wpi::Protobuf<frc::Rotation2d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Rotation2d>::Pack(OutputStream& stream,
                                           const frc::Rotation2d& value) {
-  auto m = static_cast<wpi::proto::ProtobufRotation2d*>(msg);
-  m->set_value(value.Radians().value());
+  wpi_proto_ProtobufRotation2d msg{
+      .value = value.Radians().value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Rotation3dProto.cpp

@@ -4,25 +4,36 @@
 
 #include "frc/geometry/proto/Rotation3dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "geometry3d.pb.h"
+#include "wpimath/protobuf/geometry3d.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::Rotation3d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufRotation3d>(arena);
-}
+std::optional<frc::Rotation3d> wpi::Protobuf<frc::Rotation3d>::Unpack(
+    InputStream& stream) {
+  wpi::UnpackCallback<frc::Quaternion> quat;
+  wpi_proto_ProtobufRotation3d msg{
+      .q = quat.Callback(),
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  auto iquat = quat.Items();
+
+  if (iquat.empty()) {
+    return {};
+  }
 
-frc::Rotation3d wpi::Protobuf<frc::Rotation3d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufRotation3d*>(&msg);
   return frc::Rotation3d{
-      wpi::UnpackProtobuf<frc::Quaternion>(m->wpi_q()),
+      iquat[0],
   };
 }
 
-void wpi::Protobuf<frc::Rotation3d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Rotation3d>::Pack(OutputStream& stream,
                                           const frc::Rotation3d& value) {
-  auto m = static_cast<wpi::proto::ProtobufRotation3d*>(msg);
-  wpi::PackProtobuf(m->mutable_q(), value.GetQuaternion());
+  wpi::PackCallback quat{&value.GetQuaternion()};
+  wpi_proto_ProtobufRotation3d msg{
+      .q = quat.Callback(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Transform2dProto.cpp

@@ -4,27 +4,42 @@
 
 #include "frc/geometry/proto/Transform2dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "geometry2d.pb.h"
+#include "wpimath/protobuf/geometry2d.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::Transform2d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufTransform2d>(arena);
-}
+std::optional<frc::Transform2d> wpi::Protobuf<frc::Transform2d>::Unpack(
+    InputStream& stream) {
+  wpi::UnpackCallback<frc::Translation2d> tsln;
+  wpi::UnpackCallback<frc::Rotation2d> rot;
+  wpi_proto_ProtobufTransform2d msg{
+      .translation = tsln.Callback(),
+      .rotation = rot.Callback(),
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  auto itsln = tsln.Items();
+  auto irot = rot.Items();
+
+  if (itsln.empty() || irot.empty()) {
+    return {};
+  }
 
-frc::Transform2d wpi::Protobuf<frc::Transform2d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufTransform2d*>(&msg);
   return frc::Transform2d{
-      wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_translation()),
-      wpi::UnpackProtobuf<frc::Rotation2d>(m->wpi_rotation()),
+      itsln[0],
+      irot[0],
   };
 }
 
-void wpi::Protobuf<frc::Transform2d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Transform2d>::Pack(OutputStream& stream,
                                            const frc::Transform2d& value) {
-  auto m = static_cast<wpi::proto::ProtobufTransform2d*>(msg);
-  wpi::PackProtobuf(m->mutable_translation(), value.Translation());
-  wpi::PackProtobuf(m->mutable_rotation(), value.Rotation());
+  wpi::PackCallback tsln{&value.Translation()};
+  wpi::PackCallback rot{&value.Rotation()};
+  wpi_proto_ProtobufTransform2d msg{
+      .translation = tsln.Callback(),
+      .rotation = rot.Callback(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Transform3dProto.cpp

@@ -4,27 +4,42 @@
 
 #include "frc/geometry/proto/Transform3dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "geometry3d.pb.h"
+#include "wpimath/protobuf/geometry3d.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::Transform3d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufTransform3d>(arena);
-}
+std::optional<frc::Transform3d> wpi::Protobuf<frc::Transform3d>::Unpack(
+    InputStream& stream) {
+  wpi::UnpackCallback<frc::Translation3d> tsln;
+  wpi::UnpackCallback<frc::Rotation3d> rot;
+  wpi_proto_ProtobufTransform3d msg{
+      .translation = tsln.Callback(),
+      .rotation = rot.Callback(),
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  auto itsln = tsln.Items();
+  auto irot = rot.Items();
+
+  if (itsln.empty() || irot.empty()) {
+    return {};
+  }
 
-frc::Transform3d wpi::Protobuf<frc::Transform3d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufTransform3d*>(&msg);
   return frc::Transform3d{
-      wpi::UnpackProtobuf<frc::Translation3d>(m->wpi_translation()),
-      wpi::UnpackProtobuf<frc::Rotation3d>(m->wpi_rotation()),
+      itsln[0],
+      irot[0],
   };
 }
 
-void wpi::Protobuf<frc::Transform3d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Transform3d>::Pack(OutputStream& stream,
                                            const frc::Transform3d& value) {
-  auto m = static_cast<wpi::proto::ProtobufTransform3d*>(msg);
-  wpi::PackProtobuf(m->mutable_translation(), value.Translation());
-  wpi::PackProtobuf(m->mutable_rotation(), value.Rotation());
+  wpi::PackCallback tsln{&value.Translation()};
+  wpi::PackCallback rot{&value.Rotation()};
+  wpi_proto_ProtobufTransform3d msg{
+      .translation = tsln.Callback(),
+      .rotation = rot.Callback(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Translation2dProto.cpp

@@ -4,27 +4,26 @@
 
 #include "frc/geometry/proto/Translation2dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/geometry2d.npb.h"
 
-#include "geometry2d.pb.h"
+std::optional<frc::Translation2d> wpi::Protobuf<frc::Translation2d>::Unpack(
+    InputStream& stream) {
+  wpi_proto_ProtobufTranslation2d msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<frc::Translation2d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufTranslation2d>(arena);
-}
-
-frc::Translation2d wpi::Protobuf<frc::Translation2d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufTranslation2d*>(&msg);
   return frc::Translation2d{
-      units::meter_t{m->x()},
-      units::meter_t{m->y()},
+      units::meter_t{msg.x},
+      units::meter_t{msg.y},
   };
 }
 
-void wpi::Protobuf<frc::Translation2d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Translation2d>::Pack(OutputStream& stream,
                                              const frc::Translation2d& value) {
-  auto m = static_cast<wpi::proto::ProtobufTranslation2d*>(msg);
-  m->set_x(value.X().value());
-  m->set_y(value.Y().value());
+  wpi_proto_ProtobufTranslation2d msg{
+      .x = value.X().value(),
+      .y = value.Y().value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Translation3dProto.cpp

@@ -4,29 +4,28 @@
 
 #include "frc/geometry/proto/Translation3dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/geometry3d.npb.h"
 
-#include "geometry3d.pb.h"
+std::optional<frc::Translation3d> wpi::Protobuf<frc::Translation3d>::Unpack(
+    InputStream& stream) {
+  wpi_proto_ProtobufTranslation3d msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<frc::Translation3d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufTranslation3d>(arena);
-}
-
-frc::Translation3d wpi::Protobuf<frc::Translation3d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufTranslation3d*>(&msg);
   return frc::Translation3d{
-      units::meter_t{m->x()},
-      units::meter_t{m->y()},
-      units::meter_t{m->z()},
+      units::meter_t{msg.x},
+      units::meter_t{msg.y},
+      units::meter_t{msg.z},
   };
 }
 
-void wpi::Protobuf<frc::Translation3d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Translation3d>::Pack(OutputStream& stream,
                                              const frc::Translation3d& value) {
-  auto m = static_cast<wpi::proto::ProtobufTranslation3d*>(msg);
-  m->set_x(value.X().value());
-  m->set_y(value.Y().value());
-  m->set_z(value.Z().value());
+  wpi_proto_ProtobufTranslation3d msg{
+      .x = value.X().value(),
+      .y = value.Y().value(),
+      .z = value.Z().value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Twist2dProto.cpp

@@ -4,29 +4,28 @@
 
 #include "frc/geometry/proto/Twist2dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/geometry2d.npb.h"
 
-#include "geometry2d.pb.h"
+std::optional<frc::Twist2d> wpi::Protobuf<frc::Twist2d>::Unpack(
+    InputStream& stream) {
+  wpi_proto_ProtobufTwist2d msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<frc::Twist2d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufTwist2d>(arena);
-}
-
-frc::Twist2d wpi::Protobuf<frc::Twist2d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufTwist2d*>(&msg);
   return frc::Twist2d{
-      units::meter_t{m->dx()},
-      units::meter_t{m->dy()},
-      units::radian_t{m->dtheta()},
+      units::meter_t{msg.dx},
+      units::meter_t{msg.dy},
+      units::radian_t{msg.dtheta},
   };
 }
 
-void wpi::Protobuf<frc::Twist2d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Twist2d>::Pack(OutputStream& stream,
                                        const frc::Twist2d& value) {
-  auto m = static_cast<wpi::proto::ProtobufTwist2d*>(msg);
-  m->set_dx(value.dx.value());
-  m->set_dy(value.dy.value());
-  m->set_dtheta(value.dtheta.value());
+  wpi_proto_ProtobufTwist2d msg{
+      .dx = value.dx.value(),
+      .dy = value.dy.value(),
+      .dtheta = value.dtheta.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/geometry/proto/Twist3dProto.cpp

@@ -4,32 +4,30 @@
 
 #include "frc/geometry/proto/Twist3dProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/geometry3d.npb.h"
 
-#include "geometry3d.pb.h"
+std::optional<frc::Twist3d> wpi::Protobuf<frc::Twist3d>::Unpack(
+    InputStream& stream) {
+  wpi_proto_ProtobufTwist3d msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<frc::Twist3d>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufTwist3d>(arena);
-}
-
-frc::Twist3d wpi::Protobuf<frc::Twist3d>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufTwist3d*>(&msg);
   return frc::Twist3d{
-      units::meter_t{m->dx()},  units::meter_t{m->dy()},
-      units::meter_t{m->dz()},  units::radian_t{m->rx()},
-      units::radian_t{m->ry()}, units::radian_t{m->rz()},
+      units::meter_t{msg.dx},  units::meter_t{msg.dy},  units::meter_t{msg.dz},
+      units::radian_t{msg.rx}, units::radian_t{msg.ry}, units::radian_t{msg.rz},
   };
 }
 
-void wpi::Protobuf<frc::Twist3d>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Twist3d>::Pack(OutputStream& stream,
                                        const frc::Twist3d& value) {
-  auto m = static_cast<wpi::proto::ProtobufTwist3d*>(msg);
-  m->set_dx(value.dx.value());
-  m->set_dy(value.dy.value());
-  m->set_dz(value.dz.value());
-  m->set_rx(value.rx.value());
-  m->set_ry(value.ry.value());
-  m->set_rz(value.rz.value());
+  wpi_proto_ProtobufTwist3d msg{
+      .dx = value.dx.value(),
+      .dy = value.dy.value(),
+      .dz = value.dz.value(),
+      .rx = value.rx.value(),
+      .ry = value.ry.value(),
+      .rz = value.rz.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/kinematics/proto/ChassisSpeedsProto.cpp

@@ -4,29 +4,28 @@
 
 #include "frc/kinematics/proto/ChassisSpeedsProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/kinematics.npb.h"
 
-#include "kinematics.pb.h"
+std::optional<frc::ChassisSpeeds> wpi::Protobuf<frc::ChassisSpeeds>::Unpack(
+    InputStream& stream) {
+  wpi_proto_ProtobufChassisSpeeds msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<frc::ChassisSpeeds>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufChassisSpeeds>(arena);
-}
-
-frc::ChassisSpeeds wpi::Protobuf<frc::ChassisSpeeds>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufChassisSpeeds*>(&msg);
   return frc::ChassisSpeeds{
-      units::meters_per_second_t{m->vx()},
-      units::meters_per_second_t{m->vy()},
-      units::radians_per_second_t{m->omega()},
+      units::meters_per_second_t{msg.vx},
+      units::meters_per_second_t{msg.vy},
+      units::radians_per_second_t{msg.omega},
   };
 }
 
-void wpi::Protobuf<frc::ChassisSpeeds>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::ChassisSpeeds>::Pack(OutputStream& stream,
                                              const frc::ChassisSpeeds& value) {
-  auto m = static_cast<wpi::proto::ProtobufChassisSpeeds*>(msg);
-  m->set_vx(value.vx.value());
-  m->set_vy(value.vy.value());
-  m->set_omega(value.omega.value());
+  wpi_proto_ProtobufChassisSpeeds msg{
+      .vx = value.vx.value(),
+      .vy = value.vy.value(),
+      .omega = value.omega.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp

@@ -4,29 +4,24 @@
 
 #include "frc/kinematics/proto/DifferentialDriveKinematicsProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/kinematics.npb.h"
 
-#include "kinematics.pb.h"
+std::optional<frc::DifferentialDriveKinematics>
+wpi::Protobuf<frc::DifferentialDriveKinematics>::Unpack(InputStream& stream) {
+  wpi_proto_ProtobufDifferentialDriveKinematics msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<frc::DifferentialDriveKinematics>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufDifferentialDriveKinematics>(
-      arena);
-}
-
-frc::DifferentialDriveKinematics
-wpi::Protobuf<frc::DifferentialDriveKinematics>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m =
-      static_cast<const wpi::proto::ProtobufDifferentialDriveKinematics*>(&msg);
   return frc::DifferentialDriveKinematics{
-      units::meter_t{m->track_width()},
+      units::meter_t{msg.track_width},
   };
 }
 
-void wpi::Protobuf<frc::DifferentialDriveKinematics>::Pack(
-    google::protobuf::Message* msg,
-    const frc::DifferentialDriveKinematics& value) {
-  auto m = static_cast<wpi::proto::ProtobufDifferentialDriveKinematics*>(msg);
-  m->set_track_width(value.trackWidth.value());
+bool wpi::Protobuf<frc::DifferentialDriveKinematics>::Pack(
+    OutputStream& stream, const frc::DifferentialDriveKinematics& value) {
+  wpi_proto_ProtobufDifferentialDriveKinematics msg{
+      .track_width = value.trackWidth.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp

@@ -4,33 +4,26 @@
 
 #include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/kinematics.npb.h"
 
-#include "kinematics.pb.h"
+std::optional<frc::DifferentialDriveWheelPositions> wpi::Protobuf<
+    frc::DifferentialDriveWheelPositions>::Unpack(InputStream& stream) {
+  wpi_proto_ProtobufDifferentialDriveWheelPositions msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<
-    frc::DifferentialDriveWheelPositions>::New(google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<
-      wpi::proto::ProtobufDifferentialDriveWheelPositions>(arena);
-}
-
-frc::DifferentialDriveWheelPositions
-wpi::Protobuf<frc::DifferentialDriveWheelPositions>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m =
-      static_cast<const wpi::proto::ProtobufDifferentialDriveWheelPositions*>(
-          &msg);
   return frc::DifferentialDriveWheelPositions{
-      units::meter_t{m->left()},
-      units::meter_t{m->right()},
+      units::meter_t{msg.left},
+      units::meter_t{msg.right},
   };
 }
 
-void wpi::Protobuf<frc::DifferentialDriveWheelPositions>::Pack(
-    google::protobuf::Message* msg,
-    const frc::DifferentialDriveWheelPositions& value) {
-  auto m =
-      static_cast<wpi::proto::ProtobufDifferentialDriveWheelPositions*>(msg);
-  m->set_left(value.left.value());
-  m->set_right(value.right.value());
+bool wpi::Protobuf<frc::DifferentialDriveWheelPositions>::Pack(
+    OutputStream& stream, const frc::DifferentialDriveWheelPositions& value) {
+  wpi_proto_ProtobufDifferentialDriveWheelPositions msg{
+      .left = value.left.value(),
+      .right = value.right.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp

@@ -4,31 +4,26 @@
 
 #include "frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/kinematics.npb.h"
 
-#include "kinematics.pb.h"
+std::optional<frc::DifferentialDriveWheelSpeeds>
+wpi::Protobuf<frc::DifferentialDriveWheelSpeeds>::Unpack(InputStream& stream) {
+  wpi_proto_ProtobufDifferentialDriveWheelSpeeds msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<
-    frc::DifferentialDriveWheelSpeeds>::New(google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufDifferentialDriveWheelSpeeds>(
-      arena);
-}
-
-frc::DifferentialDriveWheelSpeeds
-wpi::Protobuf<frc::DifferentialDriveWheelSpeeds>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufDifferentialDriveWheelSpeeds*>(
-      &msg);
   return frc::DifferentialDriveWheelSpeeds{
-      units::meters_per_second_t{m->left()},
-      units::meters_per_second_t{m->right()},
+      units::meters_per_second_t{msg.left},
+      units::meters_per_second_t{msg.right},
   };
 }
 
-void wpi::Protobuf<frc::DifferentialDriveWheelSpeeds>::Pack(
-    google::protobuf::Message* msg,
-    const frc::DifferentialDriveWheelSpeeds& value) {
-  auto m = static_cast<wpi::proto::ProtobufDifferentialDriveWheelSpeeds*>(msg);
-  m->set_left(value.left.value());
-  m->set_right(value.right.value());
+bool wpi::Protobuf<frc::DifferentialDriveWheelSpeeds>::Pack(
+    OutputStream& stream, const frc::DifferentialDriveWheelSpeeds& value) {
+  wpi_proto_ProtobufDifferentialDriveWheelSpeeds msg{
+      .left = value.left.value(),
+      .right = value.right.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp

@@ -4,31 +4,55 @@
 
 #include "frc/kinematics/proto/MecanumDriveKinematicsProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "kinematics.pb.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::MecanumDriveKinematics>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufMecanumDriveKinematics>(arena);
-}
+std::optional<frc::MecanumDriveKinematics>
+wpi::Protobuf<frc::MecanumDriveKinematics>::Unpack(InputStream& stream) {
+  wpi::UnpackCallback<frc::Translation2d> frontLeft;
+  wpi::UnpackCallback<frc::Translation2d> frontRight;
+  wpi::UnpackCallback<frc::Translation2d> rearLeft;
+  wpi::UnpackCallback<frc::Translation2d> rearRight;
+  wpi_proto_ProtobufMecanumDriveKinematics msg{
+      .front_left = frontLeft.Callback(),
+      .front_right = frontRight.Callback(),
+      .rear_left = rearLeft.Callback(),
+      .rear_right = rearRight.Callback(),
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  auto ifrontLeft = frontLeft.Items();
+  auto ifrontRight = frontRight.Items();
+  auto irearLeft = rearLeft.Items();
+  auto irearRight = rearRight.Items();
+
+  if (ifrontLeft.empty() || ifrontRight.empty() || irearLeft.empty() ||
+      irearRight.empty()) {
+    return {};
+  }
 
-frc::MecanumDriveKinematics wpi::Protobuf<frc::MecanumDriveKinematics>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufMecanumDriveKinematics*>(&msg);
   return frc::MecanumDriveKinematics{
-      wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_front_left()),
-      wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_front_right()),
-      wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_rear_left()),
-      wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_rear_right()),
+      ifrontLeft[0],
+      ifrontRight[0],
+      irearLeft[0],
+      irearRight[0],
   };
 }
 
-void wpi::Protobuf<frc::MecanumDriveKinematics>::Pack(
-    google::protobuf::Message* msg, const frc::MecanumDriveKinematics& value) {
-  auto m = static_cast<wpi::proto::ProtobufMecanumDriveKinematics*>(msg);
-  wpi::PackProtobuf(m->mutable_front_left(), value.GetFrontLeft());
-  wpi::PackProtobuf(m->mutable_front_right(), value.GetFrontRight());
-  wpi::PackProtobuf(m->mutable_rear_left(), value.GetRearLeft());
-  wpi::PackProtobuf(m->mutable_rear_right(), value.GetRearRight());
+bool wpi::Protobuf<frc::MecanumDriveKinematics>::Pack(
+    OutputStream& stream, const frc::MecanumDriveKinematics& value) {
+  wpi::PackCallback frontLeft{&value.GetFrontLeft()};
+  wpi::PackCallback frontRight{&value.GetFrontRight()};
+  wpi::PackCallback rearLeft{&value.GetRearLeft()};
+  wpi::PackCallback rearRight{&value.GetRearRight()};
+  wpi_proto_ProtobufMecanumDriveKinematics msg{
+      .front_left = frontLeft.Callback(),
+      .front_right = frontRight.Callback(),
+      .rear_left = rearLeft.Callback(),
+      .rear_right = rearRight.Callback(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProto.cpp

@@ -4,35 +4,30 @@
 
 #include "frc/kinematics/proto/MecanumDriveWheelPositionsProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/kinematics.npb.h"
 
-#include "kinematics.pb.h"
+std::optional<frc::MecanumDriveWheelPositions>
+wpi::Protobuf<frc::MecanumDriveWheelPositions>::Unpack(InputStream& stream) {
+  wpi_proto_ProtobufMecanumDriveWheelPositions msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<frc::MecanumDriveWheelPositions>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufMecanumDriveWheelPositions>(
-      arena);
-}
-
-frc::MecanumDriveWheelPositions
-wpi::Protobuf<frc::MecanumDriveWheelPositions>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m =
-      static_cast<const wpi::proto::ProtobufMecanumDriveWheelPositions*>(&msg);
   return frc::MecanumDriveWheelPositions{
-      units::meter_t{m->front_left()},
-      units::meter_t{m->front_right()},
-      units::meter_t{m->rear_left()},
-      units::meter_t{m->rear_right()},
+      units::meter_t{msg.front_left},
+      units::meter_t{msg.front_right},
+      units::meter_t{msg.rear_left},
+      units::meter_t{msg.rear_right},
   };
 }
 
-void wpi::Protobuf<frc::MecanumDriveWheelPositions>::Pack(
-    google::protobuf::Message* msg,
-    const frc::MecanumDriveWheelPositions& value) {
-  auto m = static_cast<wpi::proto::ProtobufMecanumDriveWheelPositions*>(msg);
-  m->set_front_left(value.frontLeft.value());
-  m->set_front_right(value.frontRight.value());
-  m->set_rear_left(value.rearLeft.value());
-  m->set_rear_right(value.rearRight.value());
+bool wpi::Protobuf<frc::MecanumDriveWheelPositions>::Pack(
+    OutputStream& stream, const frc::MecanumDriveWheelPositions& value) {
+  wpi_proto_ProtobufMecanumDriveWheelPositions msg{
+      .front_left = value.frontLeft.value(),
+      .front_right = value.frontRight.value(),
+      .rear_left = value.rearLeft.value(),
+      .rear_right = value.rearRight.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProto.cpp

@@ -4,33 +4,30 @@
 
 #include "frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include "wpimath/protobuf/kinematics.npb.h"
 
-#include "kinematics.pb.h"
+std::optional<frc::MecanumDriveWheelSpeeds>
+wpi::Protobuf<frc::MecanumDriveWheelSpeeds>::Unpack(InputStream& stream) {
+  wpi_proto_ProtobufMecanumDriveWheelSpeeds msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-google::protobuf::Message* wpi::Protobuf<frc::MecanumDriveWheelSpeeds>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufMecanumDriveWheelSpeeds>(arena);
-}
-
-frc::MecanumDriveWheelSpeeds
-wpi::Protobuf<frc::MecanumDriveWheelSpeeds>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m =
-      static_cast<const wpi::proto::ProtobufMecanumDriveWheelSpeeds*>(&msg);
   return frc::MecanumDriveWheelSpeeds{
-      units::meters_per_second_t{m->front_left()},
-      units::meters_per_second_t{m->front_right()},
-      units::meters_per_second_t{m->rear_left()},
-      units::meters_per_second_t{m->rear_right()},
+      units::meters_per_second_t{msg.front_left},
+      units::meters_per_second_t{msg.front_right},
+      units::meters_per_second_t{msg.rear_left},
+      units::meters_per_second_t{msg.rear_right},
   };
 }
 
-void wpi::Protobuf<frc::MecanumDriveWheelSpeeds>::Pack(
-    google::protobuf::Message* msg, const frc::MecanumDriveWheelSpeeds& value) {
-  auto m = static_cast<wpi::proto::ProtobufMecanumDriveWheelSpeeds*>(msg);
-  m->set_front_left(value.frontLeft.value());
-  m->set_front_right(value.frontRight.value());
-  m->set_rear_left(value.rearLeft.value());
-  m->set_rear_right(value.rearRight.value());
+bool wpi::Protobuf<frc::MecanumDriveWheelSpeeds>::Pack(
+    OutputStream& stream, const frc::MecanumDriveWheelSpeeds& value) {
+  wpi_proto_ProtobufMecanumDriveWheelSpeeds msg{
+      .front_left = value.frontLeft.value(),
+      .front_right = value.frontRight.value(),
+      .rear_left = value.rearLeft.value(),
+      .rear_right = value.rearRight.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp

@@ -4,27 +4,39 @@
 
 #include "frc/kinematics/proto/SwerveModulePositionProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "kinematics.pb.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::SwerveModulePosition>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufSwerveModulePosition>(arena);
-}
+std::optional<frc::SwerveModulePosition>
+wpi::Protobuf<frc::SwerveModulePosition>::Unpack(InputStream& stream) {
+  wpi::UnpackCallback<frc::Rotation2d> angle;
+  wpi_proto_ProtobufSwerveModulePosition msg{
+      .distance = 0,
+      .angle = angle.Callback(),
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  auto iangle = angle.Items();
+
+  if (iangle.empty()) {
+    return {};
+  }
 
-frc::SwerveModulePosition wpi::Protobuf<frc::SwerveModulePosition>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufSwerveModulePosition*>(&msg);
   return frc::SwerveModulePosition{
-      units::meter_t{m->distance()},
-      wpi::UnpackProtobuf<frc::Rotation2d>(m->wpi_angle()),
+      units::meter_t{msg.distance},
+      iangle[0],
   };
 }
 
-void wpi::Protobuf<frc::SwerveModulePosition>::Pack(
-    google::protobuf::Message* msg, const frc::SwerveModulePosition& value) {
-  auto m = static_cast<wpi::proto::ProtobufSwerveModulePosition*>(msg);
-  m->set_distance(value.distance.value());
-  wpi::PackProtobuf(m->mutable_angle(), value.angle);
+bool wpi::Protobuf<frc::SwerveModulePosition>::Pack(
+    OutputStream& stream, const frc::SwerveModulePosition& value) {
+  wpi::PackCallback angle{&value.angle};
+  wpi_proto_ProtobufSwerveModulePosition msg{
+      .distance = value.distance.value(),
+      .angle = angle.Callback(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/kinematics/proto/SwerveModuleStateProto.cpp

@@ -4,27 +4,39 @@
 
 #include "frc/kinematics/proto/SwerveModuleStateProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "kinematics.pb.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::SwerveModuleState>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufSwerveModuleState>(arena);
-}
+std::optional<frc::SwerveModuleState>
+wpi::Protobuf<frc::SwerveModuleState>::Unpack(InputStream& stream) {
+  wpi::UnpackCallback<frc::Rotation2d> angle;
+  wpi_proto_ProtobufSwerveModuleState msg{
+      .speed = 0,
+      .angle = angle.Callback(),
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  auto iangle = angle.Items();
+
+  if (iangle.empty()) {
+    return {};
+  }
 
-frc::SwerveModuleState wpi::Protobuf<frc::SwerveModuleState>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufSwerveModuleState*>(&msg);
   return frc::SwerveModuleState{
-      units::meters_per_second_t{m->speed()},
-      wpi::UnpackProtobuf<frc::Rotation2d>(m->wpi_angle()),
+      units::meters_per_second_t{msg.speed},
+      iangle[0],
   };
 }
 
-void wpi::Protobuf<frc::SwerveModuleState>::Pack(
-    google::protobuf::Message* msg, const frc::SwerveModuleState& value) {
-  auto m = static_cast<wpi::proto::ProtobufSwerveModuleState*>(msg);
-  m->set_speed(value.speed.value());
-  wpi::PackProtobuf(m->mutable_angle(), value.angle);
+bool wpi::Protobuf<frc::SwerveModuleState>::Pack(
+    OutputStream& stream, const frc::SwerveModuleState& value) {
+  wpi::PackCallback angle{&value.angle};
+  wpi_proto_ProtobufSwerveModuleState msg{
+      .speed = value.speed.value(),
+      .angle = angle.Callback(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/spline/proto/CubicHermiteSplineProto.cpp

@@ -4,32 +4,50 @@
 
 #include "frc/spline/proto/CubicHermiteSplineProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "spline.pb.h"
+#include "wpimath/protobuf/spline.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::CubicHermiteSpline>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufCubicHermiteSpline>(arena);
-}
+std::optional<frc::CubicHermiteSpline>
+wpi::Protobuf<frc::CubicHermiteSpline>::Unpack(InputStream& stream) {
+  wpi::WpiArrayUnpackCallback<double, 2> xInitial;
+  wpi::WpiArrayUnpackCallback<double, 2> xFinal;
+  wpi::WpiArrayUnpackCallback<double, 2> yInitial;
+  wpi::WpiArrayUnpackCallback<double, 2> yFinal;
+  wpi_proto_ProtobufCubicHermiteSpline msg{
+      .x_initial = xInitial.Callback(),
+      .x_final = xFinal.Callback(),
+      .y_initial = yInitial.Callback(),
+      .y_final = yFinal.Callback(),
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  if (!xInitial.IsFull() || !yInitial.IsFull() || !xFinal.IsFull() ||
+      !yFinal.IsFull()) {
+    return {};
+  }
 
-frc::CubicHermiteSpline wpi::Protobuf<frc::CubicHermiteSpline>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufCubicHermiteSpline*>(&msg);
   return frc::CubicHermiteSpline{
-      wpi::UnpackProtobufArray<double, 2>(m->x_initial()),
-      wpi::UnpackProtobufArray<double, 2>(m->x_final()),
-      wpi::UnpackProtobufArray<double, 2>(m->y_initial()),
-      wpi::UnpackProtobufArray<double, 2>(m->y_final())};
+      xInitial.Array(),
+      xFinal.Array(),
+      yInitial.Array(),
+      yFinal.Array(),
+  };
 }
 
-void wpi::Protobuf<frc::CubicHermiteSpline>::Pack(
-    google::protobuf::Message* msg, const frc::CubicHermiteSpline& value) {
-  auto m = static_cast<wpi::proto::ProtobufCubicHermiteSpline*>(msg);
-  wpi::PackProtobufArray(m->mutable_x_initial(),
-                         value.GetInitialControlVector().x);
-  wpi::PackProtobufArray(m->mutable_x_final(), value.GetFinalControlVector().x);
-  wpi::PackProtobufArray(m->mutable_y_initial(),
-                         value.GetInitialControlVector().y);
-  wpi::PackProtobufArray(m->mutable_y_final(), value.GetFinalControlVector().y);
+bool wpi::Protobuf<frc::CubicHermiteSpline>::Pack(
+    OutputStream& stream, const frc::CubicHermiteSpline& value) {
+  wpi::PackCallback<double> xInitial{value.GetInitialControlVector().x};
+  wpi::PackCallback<double> xFinal{value.GetFinalControlVector().x};
+  wpi::PackCallback<double> yInitial{value.GetInitialControlVector().y};
+  wpi::PackCallback<double> yFinal{value.GetFinalControlVector().y};
+  wpi_proto_ProtobufCubicHermiteSpline msg{
+      .x_initial = xInitial.Callback(),
+      .x_final = xFinal.Callback(),
+      .y_initial = yInitial.Callback(),
+      .y_final = yFinal.Callback(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/spline/proto/QuinticHermiteSplineProto.cpp

@@ -4,32 +4,50 @@
 
 #include "frc/spline/proto/QuinticHermiteSplineProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "spline.pb.h"
+#include "wpimath/protobuf/spline.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::QuinticHermiteSpline>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufQuinticHermiteSpline>(arena);
-}
+std::optional<frc::QuinticHermiteSpline>
+wpi::Protobuf<frc::QuinticHermiteSpline>::Unpack(InputStream& stream) {
+  wpi::WpiArrayUnpackCallback<double, 3> xInitial;
+  wpi::WpiArrayUnpackCallback<double, 3> xFinal;
+  wpi::WpiArrayUnpackCallback<double, 3> yInitial;
+  wpi::WpiArrayUnpackCallback<double, 3> yFinal;
+  wpi_proto_ProtobufQuinticHermiteSpline msg{
+      .x_initial = xInitial.Callback(),
+      .x_final = xFinal.Callback(),
+      .y_initial = yInitial.Callback(),
+      .y_final = yFinal.Callback(),
+  };
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  if (!xInitial.IsFull() || !yInitial.IsFull() || !xFinal.IsFull() ||
+      !yFinal.IsFull()) {
+    return {};
+  }
 
-frc::QuinticHermiteSpline wpi::Protobuf<frc::QuinticHermiteSpline>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufQuinticHermiteSpline*>(&msg);
   return frc::QuinticHermiteSpline{
-      wpi::UnpackProtobufArray<double, 3>(m->x_initial()),
-      wpi::UnpackProtobufArray<double, 3>(m->x_final()),
-      wpi::UnpackProtobufArray<double, 3>(m->y_initial()),
-      wpi::UnpackProtobufArray<double, 3>(m->y_final())};
+      xInitial.Array(),
+      xFinal.Array(),
+      yInitial.Array(),
+      yFinal.Array(),
+  };
 }
 
-void wpi::Protobuf<frc::QuinticHermiteSpline>::Pack(
-    google::protobuf::Message* msg, const frc::QuinticHermiteSpline& value) {
-  auto m = static_cast<wpi::proto::ProtobufQuinticHermiteSpline*>(msg);
-  wpi::PackProtobufArray(m->mutable_x_initial(),
-                         value.GetInitialControlVector().x);
-  wpi::PackProtobufArray(m->mutable_x_final(), value.GetFinalControlVector().x);
-  wpi::PackProtobufArray(m->mutable_y_initial(),
-                         value.GetInitialControlVector().y);
-  wpi::PackProtobufArray(m->mutable_y_final(), value.GetFinalControlVector().y);
+bool wpi::Protobuf<frc::QuinticHermiteSpline>::Pack(
+    OutputStream& stream, const frc::QuinticHermiteSpline& value) {
+  wpi::PackCallback<double> xInitial{value.GetInitialControlVector().x};
+  wpi::PackCallback<double> xFinal{value.GetFinalControlVector().x};
+  wpi::PackCallback<double> yInitial{value.GetInitialControlVector().y};
+  wpi::PackCallback<double> yFinal{value.GetFinalControlVector().y};
+  wpi_proto_ProtobufQuinticHermiteSpline msg{
+      .x_initial = xInitial.Callback(),
+      .x_final = xFinal.Callback(),
+      .y_initial = yInitial.Callback(),
+      .y_final = yFinal.Callback(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/system/plant/proto/DCMotorProto.cpp

@@ -4,33 +4,34 @@
 
 #include "frc/system/plant/proto/DCMotorProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <optional>
 
-#include "plant.pb.h"
+#include "wpimath/protobuf/plant.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::DCMotor>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufDCMotor>(arena);
-}
+std::optional<frc::DCMotor> wpi::Protobuf<frc::DCMotor>::Unpack(
+    InputStream& stream) {
+  wpi_proto_ProtobufDCMotor msg;
+  if (!stream.Decode(msg)) {
+    return {};
+  }
 
-frc::DCMotor wpi::Protobuf<frc::DCMotor>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufDCMotor*>(&msg);
   return frc::DCMotor{
-      units::volt_t{m->nominal_voltage()},
-      units::newton_meter_t{m->stall_torque()},
-      units::ampere_t{m->stall_current()},
-      units::ampere_t{m->free_current()},
-      units::radians_per_second_t{m->free_speed()},
+      units::volt_t{msg.nominal_voltage},
+      units::newton_meter_t{msg.stall_torque},
+      units::ampere_t{msg.stall_current},
+      units::ampere_t{msg.free_current},
+      units::radians_per_second_t{msg.free_speed},
   };
 }
 
-void wpi::Protobuf<frc::DCMotor>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::DCMotor>::Pack(OutputStream& stream,
                                        const frc::DCMotor& value) {
-  auto m = static_cast<wpi::proto::ProtobufDCMotor*>(msg);
-  m->set_nominal_voltage(value.nominalVoltage.value());
-  m->set_stall_torque(value.stallTorque.value());
-  m->set_stall_current(value.stallCurrent.value());
-  m->set_free_current(value.freeCurrent.value());
-  m->set_free_speed(value.freeSpeed.value());
+  wpi_proto_ProtobufDCMotor msg{
+      .nominal_voltage = value.nominalVoltage.value(),
+      .stall_torque = value.stallTorque.value(),
+      .stall_current = value.stallCurrent.value(),
+      .free_current = value.freeCurrent.value(),
+      .free_speed = value.freeSpeed.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp

@@ -6,31 +6,28 @@
 
 #include <vector>
 
-#include <wpi/ProtoHelper.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-#include "trajectory.pb.h"
+#include "wpimath/protobuf/trajectory.npb.h"
 
-google::protobuf::Message* wpi::Protobuf<frc::Trajectory>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufTrajectory>(arena);
-}
-
-frc::Trajectory wpi::Protobuf<frc::Trajectory>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufTrajectory*>(&msg);
-  std::vector<frc::Trajectory::State> states;
-  states.reserve(m->states().size());
-  for (const auto& protoState : m->states()) {
-    states.push_back(wpi::UnpackProtobuf<frc::Trajectory::State>(protoState));
+std::optional<frc::Trajectory> wpi::Protobuf<frc::Trajectory>::Unpack(
+    InputStream& stream) {
+  wpi::StdVectorUnpackCallback<frc::Trajectory::State, SIZE_MAX> states;
+  wpi_proto_ProtobufTrajectory msg{
+      .states = states.Callback(),
+  };
+  if (!stream.Decode(msg)) {
+    return {};
   }
-  return frc::Trajectory{states};
+
+  return frc::Trajectory{states.Vec()};
 }
 
-void wpi::Protobuf<frc::Trajectory>::Pack(google::protobuf::Message* msg,
+bool wpi::Protobuf<frc::Trajectory>::Pack(OutputStream& stream,
                                           const frc::Trajectory& value) {
-  auto m = static_cast<wpi::proto::ProtobufTrajectory*>(msg);
-  m->mutable_states()->Reserve(value.States().size());
-  for (const auto& state : value.States()) {
-    wpi::PackProtobuf(m->add_states(), state);
-  }
+  wpi::PackCallback<frc::Trajectory::State> states{value.States()};
+  wpi_proto_ProtobufTrajectory msg{
+      .states = states.Callback(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp

@@ -4,33 +4,46 @@
 
 #include "frc/trajectory/proto/TrajectoryStateProto.h"
 
-#include <wpi/ProtoHelper.h>
+#include <utility>
 
-#include "trajectory.pb.h"
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
-google::protobuf::Message* wpi::Protobuf<frc::Trajectory::State>::New(
-    google::protobuf::Arena* arena) {
-  return wpi::CreateMessage<wpi::proto::ProtobufTrajectoryState>(arena);
-}
+#include "wpimath/protobuf/trajectory.npb.h"
+
+std::optional<frc::Trajectory::State>
+wpi::Protobuf<frc::Trajectory::State>::Unpack(InputStream& stream) {
+  wpi::UnpackCallback<frc::Pose2d> pose;
+  wpi_proto_ProtobufTrajectoryState msg;
+  msg.pose = pose.Callback();
+
+  if (!stream.Decode(msg)) {
+    return {};
+  }
+
+  auto ipose = pose.Items();
+
+  if (ipose.empty()) {
+    return {};
+  }
 
-frc::Trajectory::State wpi::Protobuf<frc::Trajectory::State>::Unpack(
-    const google::protobuf::Message& msg) {
-  auto m = static_cast<const wpi::proto::ProtobufTrajectoryState*>(&msg);
   return frc::Trajectory::State{
-      units::second_t{m->time()},
-      units::meters_per_second_t{m->velocity()},
-      units::meters_per_second_squared_t{m->acceleration()},
-      wpi::UnpackProtobuf<frc::Pose2d>(m->wpi_pose()),
-      units::curvature_t{m->curvature()},
+      units::second_t{msg.time},
+      units::meters_per_second_t{msg.velocity},
+      units::meters_per_second_squared_t{msg.acceleration},
+      std::move(ipose[0]),
+      units::curvature_t{msg.curvature},
   };
 }
 
-void wpi::Protobuf<frc::Trajectory::State>::Pack(
-    google::protobuf::Message* msg, const frc::Trajectory::State& value) {
-  auto m = static_cast<wpi::proto::ProtobufTrajectoryState*>(msg);
-  m->set_time(value.t.value());
-  m->set_velocity(value.velocity.value());
-  m->set_acceleration(value.acceleration.value());
-  wpi::PackProtobuf(m->mutable_pose(), value.pose);
-  m->set_curvature(value.curvature.value());
+bool wpi::Protobuf<frc::Trajectory::State>::Pack(
+    OutputStream& stream, const frc::Trajectory::State& value) {
+  wpi::PackCallback pose{&value.pose};
+  wpi_proto_ProtobufTrajectoryState msg{
+      .time = value.t.value(),
+      .velocity = value.velocity.value(),
+      .acceleration = value.acceleration.value(),
+      .pose = pose.Callback(),
+      .curvature = value.curvature.value(),
+  };
+  return stream.Encode(msg);
 }

wpimath/src/main/native/include/frc/controller/proto/ArmFeedforwardProto.h

@@ -8,11 +8,14 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/controller/ArmFeedforward.h"
+#include "pb.h"
+#include "wpimath/protobuf/controller.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ArmFeedforward> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::ArmFeedforward Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::ArmFeedforward& value);
+  using MessageStruct = wpi_proto_ProtobufArmFeedforward;
+  using InputStream = wpi::ProtoInputStream<frc::ArmFeedforward>;
+  using OutputStream = wpi::ProtoOutputStream<frc::ArmFeedforward>;
+  static std::optional<frc::ArmFeedforward> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::ArmFeedforward& value);
 };

wpimath/src/main/native/include/frc/controller/proto/DifferentialDriveFeedforwardProto.h

@@ -8,12 +8,17 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/controller/DifferentialDriveFeedforward.h"
+#include "pb.h"
+#include "wpimath/protobuf/controller.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveFeedforward> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::DifferentialDriveFeedforward Unpack(
-      const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufDifferentialDriveFeedforward;
+  using InputStream = wpi::ProtoInputStream<frc::DifferentialDriveFeedforward>;
+  using OutputStream =
+      wpi::ProtoOutputStream<frc::DifferentialDriveFeedforward>;
+  static std::optional<frc::DifferentialDriveFeedforward> Unpack(
+      InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::DifferentialDriveFeedforward& value);
 };

wpimath/src/main/native/include/frc/controller/proto/DifferentialDriveWheelVoltagesProto.h

@@ -8,12 +8,18 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/controller/DifferentialDriveWheelVoltages.h"
+#include "pb.h"
+#include "wpimath/protobuf/controller.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelVoltages> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::DifferentialDriveWheelVoltages Unpack(
-      const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufDifferentialDriveWheelVoltages;
+  using InputStream =
+      wpi::ProtoInputStream<frc::DifferentialDriveWheelVoltages>;
+  using OutputStream =
+      wpi::ProtoOutputStream<frc::DifferentialDriveWheelVoltages>;
+  static std::optional<frc::DifferentialDriveWheelVoltages> Unpack(
+      InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::DifferentialDriveWheelVoltages& value);
 };

wpimath/src/main/native/include/frc/controller/proto/ElevatorFeedforwardProto.h

@@ -8,11 +8,14 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/controller/ElevatorFeedforward.h"
+#include "pb.h"
+#include "wpimath/protobuf/controller.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ElevatorFeedforward> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::ElevatorFeedforward Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::ElevatorFeedforward& value);
+  using MessageStruct = wpi_proto_ProtobufElevatorFeedforward;
+  using InputStream = wpi::ProtoInputStream<frc::ElevatorFeedforward>;
+  using OutputStream = wpi::ProtoOutputStream<frc::ElevatorFeedforward>;
+  static std::optional<frc::ElevatorFeedforward> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::ElevatorFeedforward& value);
 };

wpimath/src/main/native/include/frc/controller/proto/SimpleMotorFeedforwardProto.h

@@ -4,47 +4,55 @@
 
 #pragma once
 
-#include <wpi/ProtoHelper.h>
 #include <wpi/protobuf/Protobuf.h>
 
-#include "controller.pb.h"
 #include "frc/controller/SimpleMotorFeedforward.h"
+#include "pb.h"
 #include "units/length.h"
+#include "wpimath/protobuf/controller.npb.h"
 
 // Everything is converted into units for
 // frc::SimpleMotorFeedforward<units::meters>
 
 template <class Distance>
-struct wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena) {
-    return wpi::CreateMessage<wpi::proto::ProtobufSimpleMotorFeedforward>(
-        arena);
-  }
+struct wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>> {  // NOLINT
+  using MessageStruct = wpi_proto_ProtobufSimpleMotorFeedforward;
+  using InputStream =
+      wpi::ProtoInputStream<frc::SimpleMotorFeedforward<Distance>>;
+  using OutputStream =
+      wpi::ProtoOutputStream<frc::SimpleMotorFeedforward<Distance>>;
 
-  static frc::SimpleMotorFeedforward<Distance> Unpack(
-      const google::protobuf::Message& msg) {
-    auto m =
-        static_cast<const wpi::proto::ProtobufSimpleMotorFeedforward*>(&msg);
-    return {units::volt_t{m->ks()},
-            units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
-                m->kv()},
-            units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
-                m->ka()},
-            units::second_t{m->dt()}};
-  }
+  static std::optional<frc::SimpleMotorFeedforward<Distance>> Unpack(
+      InputStream& stream) {
+    wpi_proto_ProtobufSimpleMotorFeedforward msg;
+    if (!stream.Decode(msg)) {
+      return {};
+    }
 
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::SimpleMotorFeedforward<Distance>& value) {
-    auto m = static_cast<wpi::proto::ProtobufSimpleMotorFeedforward*>(msg);
-    m->set_ks(value.GetKs().value());
-    m->set_kv(
+    return frc::SimpleMotorFeedforward<Distance>{
+        units::volt_t{msg.ks},
         units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
-            value.GetKv()}
-            .value());
-    m->set_ka(
+            msg.kv},
         units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
-            value.GetKa()}
-            .value());
-    m->set_dt(units::second_t{value.GetDt()}.value());
+            msg.ka},
+        units::second_t{msg.dt},
+    };
+  }
+
+  static bool Pack(OutputStream& stream,
+                   const frc::SimpleMotorFeedforward<Distance>& value) {
+    wpi_proto_ProtobufSimpleMotorFeedforward msg{
+        .ks = value.GetKs().value(),
+        .kv =
+            units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
+                value.GetKv()}
+                .value(),
+        .ka =
+            units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
+                value.GetKa()}
+                .value(),
+        .dt = units::second_t{value.GetDt()}.value(),
+    };
+    return stream.Encode(msg);
   }
 };

wpimath/src/main/native/include/frc/geometry/proto/Ellipse2dProto.h

@@ -8,10 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Ellipse2d.h"
+#include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Ellipse2d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Ellipse2d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg, const frc::Ellipse2d& value);
+  using MessageStruct = wpi_proto_ProtobufEllipse2d;
+  using InputStream = wpi::ProtoInputStream<frc::Ellipse2d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Ellipse2d>;
+  static std::optional<frc::Ellipse2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Ellipse2d& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/Pose2dProto.h

@@ -8,10 +8,14 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Pose2d.h"
+#include "pb.h"
+#include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Pose2d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Pose2d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg, const frc::Pose2d& value);
+  using MessageStruct = wpi_proto_ProtobufPose2d;
+  using InputStream = wpi::ProtoInputStream<frc::Pose2d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Pose2d>;
+  static std::optional<frc::Pose2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Pose2d& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/Pose3dProto.h

@@ -8,10 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Pose3d.h"
+#include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Pose3d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Pose3d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg, const frc::Pose3d& value);
+  using MessageStruct = wpi_proto_ProtobufPose3d;
+  using InputStream = wpi::ProtoInputStream<frc::Pose3d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Pose3d>;
+  static std::optional<frc::Pose3d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Pose3d& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/QuaternionProto.h

@@ -8,11 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Quaternion.h"
+#include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Quaternion> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Quaternion Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Quaternion& value);
+  using MessageStruct = wpi_proto_ProtobufQuaternion;
+  using InputStream = wpi::ProtoInputStream<frc::Quaternion>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Quaternion>;
+  static std::optional<frc::Quaternion> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Quaternion& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/Rectangle2dProto.h

@@ -8,11 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Rectangle2d.h"
+#include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Rectangle2d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Rectangle2d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Rectangle2d& value);
+  using MessageStruct = wpi_proto_ProtobufRectangle2d;
+  using InputStream = wpi::ProtoInputStream<frc::Rectangle2d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Rectangle2d>;
+  static std::optional<frc::Rectangle2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Rectangle2d& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/Rotation2dProto.h

@@ -8,11 +8,14 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Rotation2d.h"
+#include "pb.h"
+#include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Rotation2d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Rotation2d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Rotation2d& value);
+  using MessageStruct = wpi_proto_ProtobufRotation2d;
+  using InputStream = wpi::ProtoInputStream<frc::Rotation2d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Rotation2d>;
+  static std::optional<frc::Rotation2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Rotation2d& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/Rotation3dProto.h

@@ -8,11 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Rotation3d.h"
+#include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Rotation3d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Rotation3d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Rotation3d& value);
+  using MessageStruct = wpi_proto_ProtobufRotation3d;
+  using InputStream = wpi::ProtoInputStream<frc::Rotation3d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Rotation3d>;
+  static std::optional<frc::Rotation3d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Rotation3d& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/Transform2dProto.h

@@ -8,11 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Transform2d.h"
+#include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Transform2d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Transform2d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Transform2d& value);
+  using MessageStruct = wpi_proto_ProtobufTransform2d;
+  using InputStream = wpi::ProtoInputStream<frc::Transform2d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Transform2d>;
+  static std::optional<frc::Transform2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Transform2d& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/Transform3dProto.h

@@ -8,11 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Transform3d.h"
+#include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Transform3d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Transform3d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Transform3d& value);
+  using MessageStruct = wpi_proto_ProtobufTransform3d;
+  using InputStream = wpi::ProtoInputStream<frc::Transform3d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Transform3d>;
+  static std::optional<frc::Transform3d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Transform3d& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/Translation2dProto.h

@@ -8,11 +8,14 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Translation2d.h"
+#include "pb.h"
+#include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Translation2d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Translation2d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Translation2d& value);
+  using MessageStruct = wpi_proto_ProtobufTranslation2d;
+  using InputStream = wpi::ProtoInputStream<frc::Translation2d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Translation2d>;
+  static std::optional<frc::Translation2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Translation2d& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/Translation3dProto.h

@@ -8,11 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Translation3d.h"
+#include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Translation3d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Translation3d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Translation3d& value);
+  using MessageStruct = wpi_proto_ProtobufTranslation3d;
+  using InputStream = wpi::ProtoInputStream<frc::Translation3d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Translation3d>;
+  static std::optional<frc::Translation3d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Translation3d& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/Twist2dProto.h

@@ -8,10 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Twist2d.h"
+#include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Twist2d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Twist2d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg, const frc::Twist2d& value);
+  using MessageStruct = wpi_proto_ProtobufTwist2d;
+  using InputStream = wpi::ProtoInputStream<frc::Twist2d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Twist2d>;
+  static std::optional<frc::Twist2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Twist2d& value);
 };

wpimath/src/main/native/include/frc/geometry/proto/Twist3dProto.h

@@ -8,10 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/geometry/Twist3d.h"
+#include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Twist3d> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Twist3d Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg, const frc::Twist3d& value);
+  using MessageStruct = wpi_proto_ProtobufTwist3d;
+  using InputStream = wpi::ProtoInputStream<frc::Twist3d>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Twist3d>;
+  static std::optional<frc::Twist3d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Twist3d& value);
 };

wpimath/src/main/native/include/frc/kinematics/Kinematics.h

@@ -24,6 +24,8 @@ template <typename WheelSpeeds, typename WheelPositions>
            std::assignable_from<WheelPositions&, const WheelPositions&>
 class WPILIB_DLLEXPORT Kinematics {
  public:
+  virtual ~Kinematics() noexcept = default;
+
   /**
    * Performs forward kinematics to return the resulting chassis speed from the
    * wheel speeds. This method is often used for odometry -- determining the

wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h

@@ -429,7 +429,7 @@ class SwerveDriveKinematics
     return {result};
   }
 
-  const wpi::array<Translation2d, NumModules> GetModules() const {
+  const wpi::array<Translation2d, NumModules>& GetModules() const {
     return m_modules;
   }
 

wpimath/src/main/native/include/frc/kinematics/proto/ChassisSpeedsProto.h

@@ -8,11 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/kinematics/ChassisSpeeds.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ChassisSpeeds> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::ChassisSpeeds Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::ChassisSpeeds& value);
+  using MessageStruct = wpi_proto_ProtobufChassisSpeeds;
+  using InputStream = wpi::ProtoInputStream<frc::ChassisSpeeds>;
+  using OutputStream = wpi::ProtoOutputStream<frc::ChassisSpeeds>;
+  static std::optional<frc::ChassisSpeeds> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::ChassisSpeeds& value);
 };

wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveKinematicsProto.h

@@ -8,12 +8,15 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveKinematics> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::DifferentialDriveKinematics Unpack(
-      const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufDifferentialDriveKinematics;
+  using InputStream = wpi::ProtoInputStream<frc::DifferentialDriveKinematics>;
+  using OutputStream = wpi::ProtoOutputStream<frc::DifferentialDriveKinematics>;
+  static std::optional<frc::DifferentialDriveKinematics> Unpack(
+      InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::DifferentialDriveKinematics& value);
 };

wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h

@@ -8,12 +8,17 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/kinematics/DifferentialDriveWheelPositions.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelPositions> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::DifferentialDriveWheelPositions Unpack(
-      const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufDifferentialDriveWheelPositions;
+  using InputStream =
+      wpi::ProtoInputStream<frc::DifferentialDriveWheelPositions>;
+  using OutputStream =
+      wpi::ProtoOutputStream<frc::DifferentialDriveWheelPositions>;
+  static std::optional<frc::DifferentialDriveWheelPositions> Unpack(
+      InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::DifferentialDriveWheelPositions& value);
 };

wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h

@@ -8,12 +8,16 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelSpeeds> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::DifferentialDriveWheelSpeeds Unpack(
-      const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufDifferentialDriveWheelSpeeds;
+  using InputStream = wpi::ProtoInputStream<frc::DifferentialDriveWheelSpeeds>;
+  using OutputStream =
+      wpi::ProtoOutputStream<frc::DifferentialDriveWheelSpeeds>;
+  static std::optional<frc::DifferentialDriveWheelSpeeds> Unpack(
+      InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::DifferentialDriveWheelSpeeds& value);
 };

wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveKinematicsProto.h

@@ -8,12 +8,14 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/kinematics/MecanumDriveKinematics.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveKinematics> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::MecanumDriveKinematics Unpack(
-      const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufMecanumDriveKinematics;
+  using InputStream = wpi::ProtoInputStream<frc::MecanumDriveKinematics>;
+  using OutputStream = wpi::ProtoOutputStream<frc::MecanumDriveKinematics>;
+  static std::optional<frc::MecanumDriveKinematics> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::MecanumDriveKinematics& value);
 };

wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveWheelPositionsProto.h

@@ -8,12 +8,15 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/kinematics/MecanumDriveWheelPositions.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveWheelPositions> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::MecanumDriveWheelPositions Unpack(
-      const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufMecanumDriveWheelPositions;
+  using InputStream = wpi::ProtoInputStream<frc::MecanumDriveWheelPositions>;
+  using OutputStream = wpi::ProtoOutputStream<frc::MecanumDriveWheelPositions>;
+  static std::optional<frc::MecanumDriveWheelPositions> Unpack(
+      InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::MecanumDriveWheelPositions& value);
 };

wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h

@@ -8,12 +8,15 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/kinematics/MecanumDriveWheelSpeeds.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveWheelSpeeds> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::MecanumDriveWheelSpeeds Unpack(
-      const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufMecanumDriveWheelSpeeds;
+  using InputStream = wpi::ProtoInputStream<frc::MecanumDriveWheelSpeeds>;
+  using OutputStream = wpi::ProtoOutputStream<frc::MecanumDriveWheelSpeeds>;
+  static std::optional<frc::MecanumDriveWheelSpeeds> Unpack(
+      InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::MecanumDriveWheelSpeeds& value);
 };

wpimath/src/main/native/include/frc/kinematics/proto/SwerveDriveKinematicsProto.h

@@ -7,36 +7,40 @@
 #include <stdexcept>
 
 #include <fmt/format.h>
-#include <wpi/ProtoHelper.h>
 #include <wpi/protobuf/Protobuf.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
 #include "frc/kinematics/SwerveDriveKinematics.h"
-#include "kinematics.pb.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
 template <size_t NumModules>
 struct wpi::Protobuf<frc::SwerveDriveKinematics<NumModules>> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena) {
-    return wpi::CreateMessage<wpi::proto::ProtobufSwerveDriveKinematics>(arena);
-  }
+  using MessageStruct = wpi_proto_ProtobufSwerveDriveKinematics;
+  using InputStream =
+      wpi::ProtoInputStream<frc::SwerveDriveKinematics<NumModules>>;
+  using OutputStream =
+      wpi::ProtoOutputStream<frc::SwerveDriveKinematics<NumModules>>;
 
-  static frc::SwerveDriveKinematics<NumModules> Unpack(
-      const google::protobuf::Message& msg) {
-    auto m =
-        static_cast<const wpi::proto::ProtobufSwerveDriveKinematics*>(&msg);
-    if (m->modules_size() != NumModules) {
-      throw std::invalid_argument(fmt::format(
-          "Tried to unpack message with {} elements in modules into "
-          "SwerveDriveKinematics with {} modules",
-          m->modules_size(), NumModules));
+  static std::optional<frc::SwerveDriveKinematics<NumModules>> Unpack(
+      InputStream& stream) {
+    wpi::WpiArrayUnpackCallback<frc::Translation2d, NumModules> modules;
+    wpi_proto_ProtobufSwerveDriveKinematics msg{
+        .modules = modules.Callback(),
+    };
+    modules.SetLimits(wpi::DecodeLimits::Fail);
+    if (!stream.Decode(msg)) {
+      return {};
     }
-    return frc::SwerveDriveKinematics<NumModules>{
-        wpi::UnpackProtobufArray<wpi::proto::ProtobufTranslation2d,
-                                 frc::Translation2d, NumModules>(m->modules())};
+
+    return frc::SwerveDriveKinematics<NumModules>{modules.Array()};
   }
 
-  static void Pack(google::protobuf::Message* msg,
+  static bool Pack(OutputStream& stream,
                    const frc::SwerveDriveKinematics<NumModules>& value) {
-    auto m = static_cast<wpi::proto::ProtobufSwerveDriveKinematics*>(msg);
-    wpi::PackProtobufArray(m->mutable_modules(), value.GetModules());
+    wpi::PackCallback<frc::Translation2d> modules{value.GetModules()};
+    wpi_proto_ProtobufSwerveDriveKinematics msg{
+        .modules = modules.Callback(),
+    };
+    return stream.Encode(msg);
   }
 };

wpimath/src/main/native/include/frc/kinematics/proto/SwerveModulePositionProto.h

@@ -8,11 +8,14 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/kinematics/SwerveModulePosition.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::SwerveModulePosition> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::SwerveModulePosition Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufSwerveModulePosition;
+  using InputStream = wpi::ProtoInputStream<frc::SwerveModulePosition>;
+  using OutputStream = wpi::ProtoOutputStream<frc::SwerveModulePosition>;
+  static std::optional<frc::SwerveModulePosition> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::SwerveModulePosition& value);
 };

wpimath/src/main/native/include/frc/kinematics/proto/SwerveModuleStateProto.h

@@ -8,11 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/kinematics/SwerveModuleState.h"
+#include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::SwerveModuleState> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::SwerveModuleState Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::SwerveModuleState& value);
+  using MessageStruct = wpi_proto_ProtobufSwerveModuleState;
+  using InputStream = wpi::ProtoInputStream<frc::SwerveModuleState>;
+  using OutputStream = wpi::ProtoOutputStream<frc::SwerveModuleState>;
+  static std::optional<frc::SwerveModuleState> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::SwerveModuleState& value);
 };

wpimath/src/main/native/include/frc/proto/MatrixProto.h

@@ -7,50 +7,65 @@
 #include <stdexcept>
 
 #include <fmt/format.h>
-#include <wpi/ProtoHelper.h>
 #include <wpi/protobuf/Protobuf.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
 #include "frc/EigenCore.h"
-#include "wpimath.pb.h"
+#include "wpimath/protobuf/wpimath.npb.h"
 
 template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
   requires(Cols != 1)
 struct wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena) {
-    return wpi::CreateMessage<wpi::proto::ProtobufMatrix>(arena);
-  }
+  using MessageStruct = wpi_proto_ProtobufMatrix;
+  using InputStream = wpi::ProtoInputStream<
+      frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>;
+  using OutputStream = wpi::ProtoOutputStream<
+      frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>;
 
-  static frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> Unpack(
-      const google::protobuf::Message& msg) {
-    auto m = static_cast<const wpi::proto::ProtobufMatrix*>(&msg);
-    if (m->num_rows() != Rows || m->num_cols() != Cols) {
-      throw std::invalid_argument(fmt::format(
-          "Tried to unpack message with {} rows and {} columns into "
-          "Matrix with {} rows and {} columns",
-          m->num_rows(), m->num_cols(), Rows, Cols));
+  static std::optional<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>
+  Unpack(InputStream& stream) {
+    constexpr bool isSmall = Rows * Cols * sizeof(double) < 256;
+    using UnpackType =
+        std::conditional_t<isSmall, wpi::UnpackCallback<double, Rows * Cols>,
+                           wpi::StdVectorUnpackCallback<double, Rows * Cols>>;
+    UnpackType data;
+    data.Vec().reserve(Rows * Cols);
+    data.SetLimits(wpi::DecodeLimits::Fail);
+    wpi_proto_ProtobufMatrix msg;
+    msg.data = data.Callback();
+    if (!stream.Decode(msg)) {
+      return {};
     }
-    if (m->data_size() != Rows * Cols) {
-      throw std::invalid_argument(
-          fmt::format("Tried to unpack message with {} elements in data into "
-                      "Matrix with {} elements",
-                      m->data_size(), Rows * Cols));
+
+    if (msg.num_rows != Rows || msg.num_cols != Cols) {
+      return {};
     }
+
+    auto items = data.Items();
+
+    if (items.size() != Rows * Cols) {
+      return {};
+    }
+
     frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> mat;
     for (int i = 0; i < Rows * Cols; i++) {
-      mat(i) = m->data(i);
+      mat(i) = items[i];
     }
+
     return mat;
   }
 
-  static void Pack(
-      google::protobuf::Message* msg,
+  static bool Pack(
+      OutputStream& stream,
       const frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value) {
-    auto m = static_cast<wpi::proto::ProtobufMatrix*>(msg);
-    m->set_num_rows(Rows);
-    m->set_num_cols(Cols);
-    m->clear_data();
-    for (int i = 0; i < Rows * Cols; i++) {
-      m->add_data(value(i));
-    }
+    std::span<const double> dataSpan{value.data(),
+                                     static_cast<size_t>(Rows * Cols)};
+    wpi::PackCallback<double> data{dataSpan};
+    wpi_proto_ProtobufMatrix msg{
+        .num_rows = Rows,
+        .num_cols = Cols,
+        .data = data.Callback(),
+    };
+    return stream.Encode(msg);
   }
 };

wpimath/src/main/native/include/frc/proto/VectorProto.h

@@ -7,41 +7,58 @@
 #include <stdexcept>
 
 #include <fmt/format.h>
-#include <wpi/ProtoHelper.h>
 #include <wpi/protobuf/Protobuf.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
 #include "frc/EigenCore.h"
-#include "wpimath.pb.h"
+#include "wpimath/protobuf/wpimath.npb.h"
 
 template <int Size, int Options, int MaxRows, int MaxCols>
 struct wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena) {
-    return wpi::CreateMessage<wpi::proto::ProtobufVector>(arena);
-  }
+  using MessageStruct = wpi_proto_ProtobufVector;
+  using InputStream =
+      wpi::ProtoInputStream<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>;
+  using OutputStream =
+      wpi::ProtoOutputStream<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>;
 
-  static frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> Unpack(
-      const google::protobuf::Message& msg) {
-    auto m = static_cast<const wpi::proto::ProtobufVector*>(&msg);
-    if (m->rows_size() != Size) {
-      throw std::invalid_argument(
-          fmt::format("Tried to unpack message with {} elements in rows into "
-                      "Vector with {} rows",
-                      m->rows_size(), Size));
+  static std::optional<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> Unpack(
+      InputStream& stream) {
+    constexpr bool isSmall = Size * sizeof(double) < 256;
+    using UnpackType =
+        std::conditional_t<isSmall, wpi::UnpackCallback<double, Size>,
+                           wpi::StdVectorUnpackCallback<double, Size>>;
+    UnpackType rows;
+    rows.Vec().reserve(Size);
+    rows.SetLimits(wpi::DecodeLimits::Fail);
+    wpi_proto_ProtobufVector msg{
+        .rows = rows.Callback(),
+    };
+    if (!stream.Decode(msg)) {
+      return {};
     }
-    frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> vec;
+
+    auto items = rows.Items();
+
+    if (items.size() != Size) {
+      return {};
+    }
+
+    frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> mat;
     for (int i = 0; i < Size; i++) {
-      vec(i) = m->rows(i);
+      mat(i) = items[i];
     }
-    return vec;
+
+    return mat;
   }
 
-  static void Pack(
-      google::protobuf::Message* msg,
+  static bool Pack(
+      OutputStream& stream,
       const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
-    auto m = static_cast<wpi::proto::ProtobufVector*>(msg);
-    m->clear_rows();
-    for (int i = 0; i < Size; i++) {
-      m->add_rows(value(i));
-    }
+    std::span<const double> rowsSpan{value.data(), static_cast<size_t>(Size)};
+    wpi::PackCallback<double> rows{rowsSpan};
+    wpi_proto_ProtobufVector msg{
+        .rows = rows.Callback(),
+    };
+    return stream.Encode(msg);
   }
 };

wpimath/src/main/native/include/frc/spline/proto/CubicHermiteSplineProto.h

@@ -8,11 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/spline/CubicHermiteSpline.h"
+#include "wpimath/protobuf/spline.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::CubicHermiteSpline> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::CubicHermiteSpline Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::CubicHermiteSpline& value);
+  using MessageStruct = wpi_proto_ProtobufCubicHermiteSpline;
+  using InputStream = wpi::ProtoInputStream<frc::CubicHermiteSpline>;
+  using OutputStream = wpi::ProtoOutputStream<frc::CubicHermiteSpline>;
+  static std::optional<frc::CubicHermiteSpline> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::CubicHermiteSpline& value);
 };

wpimath/src/main/native/include/frc/spline/proto/QuinticHermiteSplineProto.h

@@ -8,11 +8,14 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/spline/QuinticHermiteSpline.h"
+#include "wpimath/protobuf/spline.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::QuinticHermiteSpline> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::QuinticHermiteSpline Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufQuinticHermiteSpline;
+  using InputStream = wpi::ProtoInputStream<frc::QuinticHermiteSpline>;
+  using OutputStream = wpi::ProtoOutputStream<frc::QuinticHermiteSpline>;
+  static std::optional<frc::QuinticHermiteSpline> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::QuinticHermiteSpline& value);
 };

wpimath/src/main/native/include/frc/system/plant/proto/DCMotorProto.h

@@ -8,10 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/system/plant/DCMotor.h"
+#include "wpimath/protobuf/plant.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DCMotor> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::DCMotor Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg, const frc::DCMotor& value);
+  using MessageStruct = wpi_proto_ProtobufDCMotor;
+  using InputStream = wpi::ProtoInputStream<frc::DCMotor>;
+  using OutputStream = wpi::ProtoOutputStream<frc::DCMotor>;
+  static std::optional<frc::DCMotor> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::DCMotor& value);
 };

wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.h

@@ -5,48 +5,84 @@
 #pragma once
 
 #include <stdexcept>
+#include <utility>
 
 #include <fmt/format.h>
-#include <wpi/ProtoHelper.h>
 #include <wpi/protobuf/Protobuf.h>
+#include <wpi/protobuf/ProtobufCallbacks.h>
 
 #include "frc/proto/MatrixProto.h"
 #include "frc/system/LinearSystem.h"
-#include "system.pb.h"
+#include "wpimath/protobuf/system.npb.h"
 
 template <int States, int Inputs, int Outputs>
 struct wpi::Protobuf<frc::LinearSystem<States, Inputs, Outputs>> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena) {
-    return wpi::CreateMessage<wpi::proto::ProtobufLinearSystem>(arena);
-  }
+  using MessageStruct = wpi_proto_ProtobufLinearSystem;
+  using InputStream =
+      wpi::ProtoInputStream<frc::LinearSystem<States, Inputs, Outputs>>;
+  using OutputStream =
+      wpi::ProtoOutputStream<frc::LinearSystem<States, Inputs, Outputs>>;
 
-  static frc::LinearSystem<States, Inputs, Outputs> Unpack(
-      const google::protobuf::Message& msg) {
-    auto m = static_cast<const wpi::proto::ProtobufLinearSystem*>(&msg);
-    if (m->num_states() != States || m->num_inputs() != Inputs ||
-        m->num_outputs() != Outputs) {
-      throw std::invalid_argument(fmt::format(
-          "Tried to unpack message with {} states and {} inputs and {} outputs "
-          "into LinearSystem with {} states and {} inputs and {} outputs",
-          m->num_states(), m->num_inputs(), m->num_outputs(), States, Inputs,
-          Outputs));
+  static std::optional<frc::LinearSystem<States, Inputs, Outputs>> Unpack(
+      InputStream& stream) {
+    wpi::UnpackCallback<frc::Matrixd<States, States>> a;
+    a.SetLimits(wpi::DecodeLimits::Fail);
+    wpi::UnpackCallback<frc::Matrixd<States, Inputs>> b;
+    a.SetLimits(wpi::DecodeLimits::Fail);
+    wpi::UnpackCallback<frc::Matrixd<Outputs, States>> c;
+    a.SetLimits(wpi::DecodeLimits::Fail);
+    wpi::UnpackCallback<frc::Matrixd<Outputs, Inputs>> d;
+    a.SetLimits(wpi::DecodeLimits::Fail);
+
+    wpi_proto_ProtobufLinearSystem msg;
+    msg.a = a.Callback();
+    msg.b = b.Callback();
+    msg.c = c.Callback();
+    msg.d = d.Callback();
+
+    if (!stream.Decode(msg)) {
+      return {};
     }
+
+    if (msg.num_inputs != Inputs || msg.num_outputs != Outputs ||
+        msg.num_states != States) {
+      return {};
+    }
+
+    auto ai = a.Items();
+    auto bi = b.Items();
+    auto ci = c.Items();
+    auto di = d.Items();
+
+    if (ai.empty() || bi.empty() || ci.empty() || di.empty()) {
+      return {};
+    }
+
     return frc::LinearSystem<States, Inputs, Outputs>{
-        wpi::UnpackProtobuf<frc::Matrixd<States, States>>(m->wpi_a()),
-        wpi::UnpackProtobuf<frc::Matrixd<States, Inputs>>(m->wpi_b()),
-        wpi::UnpackProtobuf<frc::Matrixd<Outputs, States>>(m->wpi_c()),
-        wpi::UnpackProtobuf<frc::Matrixd<Outputs, Inputs>>(m->wpi_d())};
+        std::move(ai[0]),
+        std::move(bi[0]),
+        std::move(ci[0]),
+        std::move(di[0]),
+    };
   }
 
-  static void Pack(google::protobuf::Message* msg,
+  static bool Pack(OutputStream& stream,
                    const frc::LinearSystem<States, Inputs, Outputs>& value) {
-    auto m = static_cast<wpi::proto::ProtobufLinearSystem*>(msg);
-    m->set_num_states(States);
-    m->set_num_inputs(Inputs);
-    m->set_num_outputs(Outputs);
-    wpi::PackProtobuf(m->mutable_a(), value.A());
-    wpi::PackProtobuf(m->mutable_b(), value.B());
-    wpi::PackProtobuf(m->mutable_c(), value.C());
-    wpi::PackProtobuf(m->mutable_d(), value.D());
+    wpi::PackCallback a{&value.A()};
+    wpi::PackCallback b{&value.B()};
+    wpi::PackCallback c{&value.C()};
+    wpi::PackCallback d{&value.D()};
+
+    wpi_proto_ProtobufLinearSystem msg{
+        .num_states = States,
+        .num_inputs = Inputs,
+        .num_outputs = Outputs,
+        .a = a.Callback(),
+        .b = b.Callback(),
+        .c = c.Callback(),
+        .d = d.Callback(),
+    };
+
+    return stream.Encode(msg);
   }
 };

wpimath/src/main/native/include/frc/trajectory/proto/TrajectoryProto.h

@@ -8,11 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/trajectory/Trajectory.h"
+#include "wpimath/protobuf/trajectory.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Trajectory> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Trajectory Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Trajectory& value);
+  using MessageStruct = wpi_proto_ProtobufTrajectory;
+  using InputStream = wpi::ProtoInputStream<frc::Trajectory>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Trajectory>;
+  static std::optional<frc::Trajectory> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Trajectory& value);
 };

wpimath/src/main/native/include/frc/trajectory/proto/TrajectoryStateProto.h

@@ -8,11 +8,13 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/trajectory/Trajectory.h"
+#include "wpimath/protobuf/trajectory.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Trajectory::State> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Trajectory::State Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Trajectory::State& value);
+  using MessageStruct = wpi_proto_ProtobufTrajectoryState;
+  using InputStream = wpi::ProtoInputStream<frc::Trajectory::State>;
+  using OutputStream = wpi::ProtoOutputStream<frc::Trajectory::State>;
+  static std::optional<frc::Trajectory::State> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::Trajectory::State& value);
 };