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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/geometry/proto/Ellipse2dProto.cpp
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@@ -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);
}