[wpiutil] Change C++ protobuf to nanopb (#7309)

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>

wpimath/src/main/native/include/frc/controller/proto/ArmFeedforwardProto.h

@@ -8,11 +8,14 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/controller/ArmFeedforward.h"
+#include "pb.h"
+#include "wpimath/protobuf/controller.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ArmFeedforward> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::ArmFeedforward Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::ArmFeedforward& value);
+  using MessageStruct = wpi_proto_ProtobufArmFeedforward;
+  using InputStream = wpi::ProtoInputStream<frc::ArmFeedforward>;
+  using OutputStream = wpi::ProtoOutputStream<frc::ArmFeedforward>;
+  static std::optional<frc::ArmFeedforward> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::ArmFeedforward& value);
 };

wpimath/src/main/native/include/frc/controller/proto/DifferentialDriveFeedforwardProto.h

@@ -8,12 +8,17 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/controller/DifferentialDriveFeedforward.h"
+#include "pb.h"
+#include "wpimath/protobuf/controller.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveFeedforward> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::DifferentialDriveFeedforward Unpack(
-      const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufDifferentialDriveFeedforward;
+  using InputStream = wpi::ProtoInputStream<frc::DifferentialDriveFeedforward>;
+  using OutputStream =
+      wpi::ProtoOutputStream<frc::DifferentialDriveFeedforward>;
+  static std::optional<frc::DifferentialDriveFeedforward> Unpack(
+      InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::DifferentialDriveFeedforward& value);
 };

wpimath/src/main/native/include/frc/controller/proto/DifferentialDriveWheelVoltagesProto.h

@@ -8,12 +8,18 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/controller/DifferentialDriveWheelVoltages.h"
+#include "pb.h"
+#include "wpimath/protobuf/controller.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelVoltages> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::DifferentialDriveWheelVoltages Unpack(
-      const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
+  using MessageStruct = wpi_proto_ProtobufDifferentialDriveWheelVoltages;
+  using InputStream =
+      wpi::ProtoInputStream<frc::DifferentialDriveWheelVoltages>;
+  using OutputStream =
+      wpi::ProtoOutputStream<frc::DifferentialDriveWheelVoltages>;
+  static std::optional<frc::DifferentialDriveWheelVoltages> Unpack(
+      InputStream& stream);
+  static bool Pack(OutputStream& stream,
                    const frc::DifferentialDriveWheelVoltages& value);
 };

wpimath/src/main/native/include/frc/controller/proto/ElevatorFeedforwardProto.h

@@ -8,11 +8,14 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/controller/ElevatorFeedforward.h"
+#include "pb.h"
+#include "wpimath/protobuf/controller.npb.h"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ElevatorFeedforward> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::ElevatorFeedforward Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::ElevatorFeedforward& value);
+  using MessageStruct = wpi_proto_ProtobufElevatorFeedforward;
+  using InputStream = wpi::ProtoInputStream<frc::ElevatorFeedforward>;
+  using OutputStream = wpi::ProtoOutputStream<frc::ElevatorFeedforward>;
+  static std::optional<frc::ElevatorFeedforward> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const frc::ElevatorFeedforward& value);
 };

wpimath/src/main/native/include/frc/controller/proto/SimpleMotorFeedforwardProto.h

@@ -4,47 +4,55 @@
 
 #pragma once
 
-#include <wpi/ProtoHelper.h>
 #include <wpi/protobuf/Protobuf.h>
 
-#include "controller.pb.h"
 #include "frc/controller/SimpleMotorFeedforward.h"
+#include "pb.h"
 #include "units/length.h"
+#include "wpimath/protobuf/controller.npb.h"
 
 // Everything is converted into units for
 // frc::SimpleMotorFeedforward<units::meters>
 
 template <class Distance>
-struct wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>> {
-  static google::protobuf::Message* New(google::protobuf::Arena* arena) {
-    return wpi::CreateMessage<wpi::proto::ProtobufSimpleMotorFeedforward>(
-        arena);
-  }
+struct wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>> {  // NOLINT
+  using MessageStruct = wpi_proto_ProtobufSimpleMotorFeedforward;
+  using InputStream =
+      wpi::ProtoInputStream<frc::SimpleMotorFeedforward<Distance>>;
+  using OutputStream =
+      wpi::ProtoOutputStream<frc::SimpleMotorFeedforward<Distance>>;
 
-  static frc::SimpleMotorFeedforward<Distance> Unpack(
-      const google::protobuf::Message& msg) {
-    auto m =
-        static_cast<const wpi::proto::ProtobufSimpleMotorFeedforward*>(&msg);
-    return {units::volt_t{m->ks()},
-            units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
-                m->kv()},
-            units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
-                m->ka()},
-            units::second_t{m->dt()}};
-  }
+  static std::optional<frc::SimpleMotorFeedforward<Distance>> Unpack(
+      InputStream& stream) {
+    wpi_proto_ProtobufSimpleMotorFeedforward msg;
+    if (!stream.Decode(msg)) {
+      return {};
+    }
 
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::SimpleMotorFeedforward<Distance>& value) {
-    auto m = static_cast<wpi::proto::ProtobufSimpleMotorFeedforward*>(msg);
-    m->set_ks(value.GetKs().value());
-    m->set_kv(
+    return frc::SimpleMotorFeedforward<Distance>{
+        units::volt_t{msg.ks},
         units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
-            value.GetKv()}
-            .value());
-    m->set_ka(
+            msg.kv},
         units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
-            value.GetKa()}
-            .value());
-    m->set_dt(units::second_t{value.GetDt()}.value());
+            msg.ka},
+        units::second_t{msg.dt},
+    };
+  }
+
+  static bool Pack(OutputStream& stream,
+                   const frc::SimpleMotorFeedforward<Distance>& value) {
+    wpi_proto_ProtobufSimpleMotorFeedforward msg{
+        .ks = value.GetKs().value(),
+        .kv =
+            units::unit_t<frc::SimpleMotorFeedforward<units::meters>::kv_unit>{
+                value.GetKv()}
+                .value(),
+        .ka =
+            units::unit_t<frc::SimpleMotorFeedforward<units::meters>::ka_unit>{
+                value.GetKa()}
+                .value(),
+        .dt = units::second_t{value.GetDt()}.value(),
+    };
+    return stream.Encode(msg);
   }
 };