Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

22
wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
View File

@@ -2,8 +2,8 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <google/protobuf/arena.h>
#include <gtest/gtest.h>
#include <wpi/SmallVector.h>
#include "frc/controller/ArmFeedforward.h"
@@ -11,8 +11,6 @@ using namespace frc;
namespace {
using ProtoType = wpi::Protobuf<frc::ArmFeedforward>;
static constexpr auto Ks = 1.91_V;
static constexpr auto Kg = 2.29_V;
static constexpr auto Kv = 35.04_V * 1_s / 1_rad;
@@ -21,13 +19,15 @@ const ArmFeedforward kExpectedData{Ks, Kg, Kv, Ka};
} // namespace
TEST(ArmFeedforwardProtoTest, Roundtrip) {
google::protobuf::Arena arena;
google::protobuf::Message* proto = ProtoType::New(&arena);
ProtoType::Pack(proto, kExpectedData);
wpi::ProtobufMessage<decltype(kExpectedData)> message;
wpi::SmallVector<uint8_t, 64> buf;
ArmFeedforward unpacked_data = ProtoType::Unpack(*proto);
EXPECT_EQ(kExpectedData.GetKs().value(), unpacked_data.GetKs().value());
EXPECT_EQ(kExpectedData.GetKg().value(), unpacked_data.GetKg().value());
EXPECT_EQ(kExpectedData.GetKv().value(), unpacked_data.GetKv().value());
EXPECT_EQ(kExpectedData.GetKa().value(), unpacked_data.GetKa().value());
ASSERT_TRUE(message.Pack(buf, kExpectedData));
auto unpacked_data = message.Unpack(buf);
ASSERT_TRUE(unpacked_data.has_value());
EXPECT_EQ(kExpectedData.GetKs().value(), unpacked_data->GetKs().value());
EXPECT_EQ(kExpectedData.GetKg().value(), unpacked_data->GetKg().value());
EXPECT_EQ(kExpectedData.GetKv().value(), unpacked_data->GetKv().value());
EXPECT_EQ(kExpectedData.GetKa().value(), unpacked_data->GetKa().value());
}