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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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37
wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp
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@@ -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);
}