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

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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>
This commit is contained in:
Thad House
2024-11-07 22:42:50 -08:00
committed by GitHub
parent fd2e0c0427
commit 8b8b634f65
166 changed files with 17522 additions and 1571 deletions
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47
wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp
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@@ -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);
}