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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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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);
};