[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>

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);
 }