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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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2
wpimath/src/main/native/include/frc/kinematics/Kinematics.h
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@@ -24,6 +24,8 @@ template <typename WheelSpeeds, typename WheelPositions>
std::assignable_from<WheelPositions&, const WheelPositions&>
class WPILIB_DLLEXPORT Kinematics {
public:
virtual ~Kinematics() noexcept = default;
/**
* Performs forward kinematics to return the resulting chassis speed from the
* wheel speeds. This method is often used for odometry -- determining the

2
wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
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@@ -429,7 +429,7 @@ class SwerveDriveKinematics
return {result};
}
const wpi::array<Translation2d, NumModules> GetModules() const {
const wpi::array<Translation2d, NumModules>& GetModules() const {
return m_modules;
}

10
wpimath/src/main/native/include/frc/kinematics/proto/ChassisSpeedsProto.h
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@@ -8,11 +8,13 @@
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/ChassisSpeeds.h"
#include "wpimath/protobuf/kinematics.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ChassisSpeeds> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::ChassisSpeeds Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::ChassisSpeeds& value);
using MessageStruct = wpi_proto_ProtobufChassisSpeeds;
using InputStream = wpi::ProtoInputStream<frc::ChassisSpeeds>;
using OutputStream = wpi::ProtoOutputStream<frc::ChassisSpeeds>;
static std::optional<frc::ChassisSpeeds> Unpack(InputStream& stream);
static bool Pack(OutputStream& stream, const frc::ChassisSpeeds& value);
};

11
wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveKinematicsProto.h
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@@ -8,12 +8,15 @@
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/DifferentialDriveKinematics.h"
#include "wpimath/protobuf/kinematics.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveKinematics> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::DifferentialDriveKinematics Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
using MessageStruct = wpi_proto_ProtobufDifferentialDriveKinematics;
using InputStream = wpi::ProtoInputStream<frc::DifferentialDriveKinematics>;
using OutputStream = wpi::ProtoOutputStream<frc::DifferentialDriveKinematics>;
static std::optional<frc::DifferentialDriveKinematics> Unpack(
InputStream& stream);
static bool Pack(OutputStream& stream,
const frc::DifferentialDriveKinematics& value);
};

13
wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h
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@@ -8,12 +8,17 @@
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/DifferentialDriveWheelPositions.h"
#include "wpimath/protobuf/kinematics.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelPositions> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::DifferentialDriveWheelPositions Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
using MessageStruct = wpi_proto_ProtobufDifferentialDriveWheelPositions;
using InputStream =
wpi::ProtoInputStream<frc::DifferentialDriveWheelPositions>;
using OutputStream =
wpi::ProtoOutputStream<frc::DifferentialDriveWheelPositions>;
static std::optional<frc::DifferentialDriveWheelPositions> Unpack(
InputStream& stream);
static bool Pack(OutputStream& stream,
const frc::DifferentialDriveWheelPositions& value);
};

12
wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h
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@@ -8,12 +8,16 @@
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
#include "wpimath/protobuf/kinematics.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelSpeeds> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::DifferentialDriveWheelSpeeds Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
using MessageStruct = wpi_proto_ProtobufDifferentialDriveWheelSpeeds;
using InputStream = wpi::ProtoInputStream<frc::DifferentialDriveWheelSpeeds>;
using OutputStream =
wpi::ProtoOutputStream<frc::DifferentialDriveWheelSpeeds>;
static std::optional<frc::DifferentialDriveWheelSpeeds> Unpack(
InputStream& stream);
static bool Pack(OutputStream& stream,
const frc::DifferentialDriveWheelSpeeds& value);
};

10
wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveKinematicsProto.h
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@@ -8,12 +8,14 @@
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/MecanumDriveKinematics.h"
#include "wpimath/protobuf/kinematics.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveKinematics> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::MecanumDriveKinematics Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
using MessageStruct = wpi_proto_ProtobufMecanumDriveKinematics;
using InputStream = wpi::ProtoInputStream<frc::MecanumDriveKinematics>;
using OutputStream = wpi::ProtoOutputStream<frc::MecanumDriveKinematics>;
static std::optional<frc::MecanumDriveKinematics> Unpack(InputStream& stream);
static bool Pack(OutputStream& stream,
const frc::MecanumDriveKinematics& value);
};

11
wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveWheelPositionsProto.h
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@@ -8,12 +8,15 @@
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/MecanumDriveWheelPositions.h"
#include "wpimath/protobuf/kinematics.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveWheelPositions> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::MecanumDriveWheelPositions Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
using MessageStruct = wpi_proto_ProtobufMecanumDriveWheelPositions;
using InputStream = wpi::ProtoInputStream<frc::MecanumDriveWheelPositions>;
using OutputStream = wpi::ProtoOutputStream<frc::MecanumDriveWheelPositions>;
static std::optional<frc::MecanumDriveWheelPositions> Unpack(
InputStream& stream);
static bool Pack(OutputStream& stream,
const frc::MecanumDriveWheelPositions& value);
};

11
wpimath/src/main/native/include/frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h
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@@ -8,12 +8,15 @@
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
#include "wpimath/protobuf/kinematics.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveWheelSpeeds> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::MecanumDriveWheelSpeeds Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
using MessageStruct = wpi_proto_ProtobufMecanumDriveWheelSpeeds;
using InputStream = wpi::ProtoInputStream<frc::MecanumDriveWheelSpeeds>;
using OutputStream = wpi::ProtoOutputStream<frc::MecanumDriveWheelSpeeds>;
static std::optional<frc::MecanumDriveWheelSpeeds> Unpack(
InputStream& stream);
static bool Pack(OutputStream& stream,
const frc::MecanumDriveWheelSpeeds& value);
};

44
wpimath/src/main/native/include/frc/kinematics/proto/SwerveDriveKinematicsProto.h
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@@ -7,36 +7,40 @@
#include <stdexcept>
#include <fmt/format.h>
#include <wpi/ProtoHelper.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/protobuf/ProtobufCallbacks.h>
#include "frc/kinematics/SwerveDriveKinematics.h"
#include "kinematics.pb.h"
#include "wpimath/protobuf/kinematics.npb.h"
template <size_t NumModules>
struct wpi::Protobuf<frc::SwerveDriveKinematics<NumModules>> {
static google::protobuf::Message* New(google::protobuf::Arena* arena) {
return wpi::CreateMessage<wpi::proto::ProtobufSwerveDriveKinematics>(arena);
}
using MessageStruct = wpi_proto_ProtobufSwerveDriveKinematics;
using InputStream =
wpi::ProtoInputStream<frc::SwerveDriveKinematics<NumModules>>;
using OutputStream =
wpi::ProtoOutputStream<frc::SwerveDriveKinematics<NumModules>>;
static frc::SwerveDriveKinematics<NumModules> Unpack(
const google::protobuf::Message& msg) {
auto m =
static_cast<const wpi::proto::ProtobufSwerveDriveKinematics*>(&msg);
if (m->modules_size() != NumModules) {
throw std::invalid_argument(fmt::format(
"Tried to unpack message with {} elements in modules into "
"SwerveDriveKinematics with {} modules",
m->modules_size(), NumModules));
static std::optional<frc::SwerveDriveKinematics<NumModules>> Unpack(
InputStream& stream) {
wpi::WpiArrayUnpackCallback<frc::Translation2d, NumModules> modules;
wpi_proto_ProtobufSwerveDriveKinematics msg{
.modules = modules.Callback(),
};
modules.SetLimits(wpi::DecodeLimits::Fail);
if (!stream.Decode(msg)) {
return {};
}
return frc::SwerveDriveKinematics<NumModules>{
wpi::UnpackProtobufArray<wpi::proto::ProtobufTranslation2d,
frc::Translation2d, NumModules>(m->modules())};
return frc::SwerveDriveKinematics<NumModules>{modules.Array()};
}
static void Pack(google::protobuf::Message* msg,
static bool Pack(OutputStream& stream,
const frc::SwerveDriveKinematics<NumModules>& value) {
auto m = static_cast<wpi::proto::ProtobufSwerveDriveKinematics*>(msg);
wpi::PackProtobufArray(m->mutable_modules(), value.GetModules());
wpi::PackCallback<frc::Translation2d> modules{value.GetModules()};
wpi_proto_ProtobufSwerveDriveKinematics msg{
.modules = modules.Callback(),
};
return stream.Encode(msg);
}
};

9
wpimath/src/main/native/include/frc/kinematics/proto/SwerveModulePositionProto.h
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@@ -8,11 +8,14 @@
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/SwerveModulePosition.h"
#include "wpimath/protobuf/kinematics.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::SwerveModulePosition> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::SwerveModulePosition Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
using MessageStruct = wpi_proto_ProtobufSwerveModulePosition;
using InputStream = wpi::ProtoInputStream<frc::SwerveModulePosition>;
using OutputStream = wpi::ProtoOutputStream<frc::SwerveModulePosition>;
static std::optional<frc::SwerveModulePosition> Unpack(InputStream& stream);
static bool Pack(OutputStream& stream,
const frc::SwerveModulePosition& value);
};

10
wpimath/src/main/native/include/frc/kinematics/proto/SwerveModuleStateProto.h
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@@ -8,11 +8,13 @@
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/SwerveModuleState.h"
#include "wpimath/protobuf/kinematics.npb.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::SwerveModuleState> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::SwerveModuleState Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::SwerveModuleState& value);
using MessageStruct = wpi_proto_ProtobufSwerveModuleState;
using InputStream = wpi::ProtoInputStream<frc::SwerveModuleState>;
using OutputStream = wpi::ProtoOutputStream<frc::SwerveModuleState>;
static std::optional<frc::SwerveModuleState> Unpack(InputStream& stream);
static bool Pack(OutputStream& stream, const frc::SwerveModuleState& value);
};