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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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39
wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp
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@@ -6,31 +6,28 @@
#include <vector>
#include <wpi/ProtoHelper.h>
#include <wpi/protobuf/ProtobufCallbacks.h>
#include "trajectory.pb.h"
#include "wpimath/protobuf/trajectory.npb.h"
google::protobuf::Message* wpi::Protobuf<frc::Trajectory>::New(
google::protobuf::Arena* arena) {
return wpi::CreateMessage<wpi::proto::ProtobufTrajectory>(arena);
}
frc::Trajectory wpi::Protobuf<frc::Trajectory>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufTrajectory*>(&msg);
std::vector<frc::Trajectory::State> states;
states.reserve(m->states().size());
for (const auto& protoState : m->states()) {
states.push_back(wpi::UnpackProtobuf<frc::Trajectory::State>(protoState));
std::optional<frc::Trajectory> wpi::Protobuf<frc::Trajectory>::Unpack(
InputStream& stream) {
wpi::StdVectorUnpackCallback<frc::Trajectory::State, SIZE_MAX> states;
wpi_proto_ProtobufTrajectory msg{
.states = states.Callback(),
};
if (!stream.Decode(msg)) {
return {};
}
return frc::Trajectory{states};
return frc::Trajectory{states.Vec()};
}
void wpi::Protobuf<frc::Trajectory>::Pack(google::protobuf::Message* msg,
bool wpi::Protobuf<frc::Trajectory>::Pack(OutputStream& stream,
const frc::Trajectory& value) {
auto m = static_cast<wpi::proto::ProtobufTrajectory*>(msg);
m->mutable_states()->Reserve(value.States().size());
for (const auto& state : value.States()) {
wpi::PackProtobuf(m->add_states(), state);
}
wpi::PackCallback<frc::Trajectory::State> states{value.States()};
wpi_proto_ProtobufTrajectory msg{
.states = states.Callback(),
};
return stream.Encode(msg);
}

57
wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp
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@@ -4,33 +4,46 @@
#include "frc/trajectory/proto/TrajectoryStateProto.h"
#include <wpi/ProtoHelper.h>
#include <utility>
#include "trajectory.pb.h"
#include <wpi/protobuf/ProtobufCallbacks.h>
google::protobuf::Message* wpi::Protobuf<frc::Trajectory::State>::New(
google::protobuf::Arena* arena) {
return wpi::CreateMessage<wpi::proto::ProtobufTrajectoryState>(arena);
}
#include "wpimath/protobuf/trajectory.npb.h"
std::optional<frc::Trajectory::State>
wpi::Protobuf<frc::Trajectory::State>::Unpack(InputStream& stream) {
wpi::UnpackCallback<frc::Pose2d> pose;
wpi_proto_ProtobufTrajectoryState msg;
msg.pose = pose.Callback();
if (!stream.Decode(msg)) {
return {};
}
auto ipose = pose.Items();
if (ipose.empty()) {
return {};
}
frc::Trajectory::State wpi::Protobuf<frc::Trajectory::State>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufTrajectoryState*>(&msg);
return frc::Trajectory::State{
units::second_t{m->time()},
units::meters_per_second_t{m->velocity()},
units::meters_per_second_squared_t{m->acceleration()},
wpi::UnpackProtobuf<frc::Pose2d>(m->wpi_pose()),
units::curvature_t{m->curvature()},
units::second_t{msg.time},
units::meters_per_second_t{msg.velocity},
units::meters_per_second_squared_t{msg.acceleration},
std::move(ipose[0]),
units::curvature_t{msg.curvature},
};
}
void wpi::Protobuf<frc::Trajectory::State>::Pack(
google::protobuf::Message* msg, const frc::Trajectory::State& value) {
auto m = static_cast<wpi::proto::ProtobufTrajectoryState*>(msg);
m->set_time(value.t.value());
m->set_velocity(value.velocity.value());
m->set_acceleration(value.acceleration.value());
wpi::PackProtobuf(m->mutable_pose(), value.pose);
m->set_curvature(value.curvature.value());
bool wpi::Protobuf<frc::Trajectory::State>::Pack(
OutputStream& stream, const frc::Trajectory::State& value) {
wpi::PackCallback pose{&value.pose};
wpi_proto_ProtobufTrajectoryState msg{
.time = value.t.value(),
.velocity = value.velocity.value(),
.acceleration = value.acceleration.value(),
.pose = pose.Callback(),
.curvature = value.curvature.value(),
};
return stream.Encode(msg);
}