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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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43
wpimath/src/main/native/cpp/system/plant/proto/DCMotorProto.cpp
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@@ -4,33 +4,34 @@
#include "frc/system/plant/proto/DCMotorProto.h"
#include <wpi/ProtoHelper.h>
#include <optional>
#include "plant.pb.h"
#include "wpimath/protobuf/plant.npb.h"
google::protobuf::Message* wpi::Protobuf<frc::DCMotor>::New(
google::protobuf::Arena* arena) {
return wpi::CreateMessage<wpi::proto::ProtobufDCMotor>(arena);
}
std::optional<frc::DCMotor> wpi::Protobuf<frc::DCMotor>::Unpack(
InputStream& stream) {
wpi_proto_ProtobufDCMotor msg;
if (!stream.Decode(msg)) {
return {};
}
frc::DCMotor wpi::Protobuf<frc::DCMotor>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufDCMotor*>(&msg);
return frc::DCMotor{
units::volt_t{m->nominal_voltage()},
units::newton_meter_t{m->stall_torque()},
units::ampere_t{m->stall_current()},
units::ampere_t{m->free_current()},
units::radians_per_second_t{m->free_speed()},
units::volt_t{msg.nominal_voltage},
units::newton_meter_t{msg.stall_torque},
units::ampere_t{msg.stall_current},
units::ampere_t{msg.free_current},
units::radians_per_second_t{msg.free_speed},
};
}
void wpi::Protobuf<frc::DCMotor>::Pack(google::protobuf::Message* msg,
bool wpi::Protobuf<frc::DCMotor>::Pack(OutputStream& stream,
const frc::DCMotor& value) {
auto m = static_cast<wpi::proto::ProtobufDCMotor*>(msg);
m->set_nominal_voltage(value.nominalVoltage.value());
m->set_stall_torque(value.stallTorque.value());
m->set_stall_current(value.stallCurrent.value());
m->set_free_current(value.freeCurrent.value());
m->set_free_speed(value.freeSpeed.value());
wpi_proto_ProtobufDCMotor msg{
.nominal_voltage = value.nominalVoltage.value(),
.stall_torque = value.stallTorque.value(),
.stall_current = value.stallCurrent.value(),
.free_current = value.freeCurrent.value(),
.free_speed = value.freeSpeed.value(),
};
return stream.Encode(msg);
}