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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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62
wpimath/src/main/native/cpp/spline/proto/CubicHermiteSplineProto.cpp
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@@ -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);
}

62
wpimath/src/main/native/cpp/spline/proto/QuinticHermiteSplineProto.cpp
View File

@@ -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);
}