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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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18
wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
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@@ -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/geometry/Pose3d.h"
@@ -11,19 +11,19 @@ using namespace frc;
namespace {
using ProtoType = wpi::Protobuf<frc::Pose3d>;
const Pose3d kExpectedData =
Pose3d{Translation3d{1.1_m, 2.2_m, 1.1_m},
Rotation3d{Quaternion{1.91, 0.3504, 3.3, 1.74}}};
} // namespace
TEST(Pose3dProtoTest, 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;
Pose3d unpacked_data = ProtoType::Unpack(*proto);
EXPECT_EQ(kExpectedData.Translation(), unpacked_data.Translation());
EXPECT_EQ(kExpectedData.Rotation(), unpacked_data.Rotation());
ASSERT_TRUE(message.Pack(buf, kExpectedData));
auto unpacked_data = message.Unpack(buf);
ASSERT_TRUE(unpacked_data.has_value());
EXPECT_EQ(kExpectedData.Translation(), unpacked_data->Translation());
EXPECT_EQ(kExpectedData.Rotation(), unpacked_data->Rotation());
}