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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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26
wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.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/Twist3d.h"
@@ -11,22 +11,22 @@ using namespace frc;
namespace {
using ProtoType = wpi::Protobuf<frc::Twist3d>;
const Twist3d kExpectedData =
Twist3d{1.1_m, 2.29_m, 35.04_m, 0.174_rad, 19.1_rad, 4.4_rad};
} // namespace
TEST(Twist3dProtoTest, 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;
Twist3d unpacked_data = ProtoType::Unpack(*proto);
EXPECT_EQ(kExpectedData.dx.value(), unpacked_data.dx.value());
EXPECT_EQ(kExpectedData.dy.value(), unpacked_data.dy.value());
EXPECT_EQ(kExpectedData.dz.value(), unpacked_data.dz.value());
EXPECT_EQ(kExpectedData.rx.value(), unpacked_data.rx.value());
EXPECT_EQ(kExpectedData.ry.value(), unpacked_data.ry.value());
EXPECT_EQ(kExpectedData.rz.value(), unpacked_data.rz.value());
ASSERT_TRUE(message.Pack(buf, kExpectedData));
auto unpacked_data = message.Unpack(buf);
ASSERT_TRUE(unpacked_data.has_value());
EXPECT_EQ(kExpectedData.dx.value(), unpacked_data->dx.value());
EXPECT_EQ(kExpectedData.dy.value(), unpacked_data->dy.value());
EXPECT_EQ(kExpectedData.dz.value(), unpacked_data->dz.value());
EXPECT_EQ(kExpectedData.rx.value(), unpacked_data->rx.value());
EXPECT_EQ(kExpectedData.ry.value(), unpacked_data->ry.value());
EXPECT_EQ(kExpectedData.rz.value(), unpacked_data->rz.value());
}