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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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28
wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.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/system/plant/DCMotor.h"
@@ -15,21 +15,23 @@ inline constexpr DCMotor kExpectedData =
DCMotor{1.91_V, 19.1_Nm, 1.74_A, 2.29_A, 2.2_rad_per_s, 2};
TEST(DCMotorProtoTest, 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;
ASSERT_TRUE(message.Pack(buf, kExpectedData));
auto unpacked_data = message.Unpack(buf);
ASSERT_TRUE(unpacked_data.has_value());
DCMotor unpacked_data = ProtoType::Unpack(*proto);
EXPECT_EQ(kExpectedData.nominalVoltage.value(),
unpacked_data.nominalVoltage.value());
unpacked_data->nominalVoltage.value());
EXPECT_EQ(kExpectedData.stallTorque.value(),
unpacked_data.stallTorque.value());
unpacked_data->stallTorque.value());
EXPECT_EQ(kExpectedData.stallCurrent.value(),
unpacked_data.stallCurrent.value());
unpacked_data->stallCurrent.value());
EXPECT_EQ(kExpectedData.freeCurrent.value(),
unpacked_data.freeCurrent.value());
EXPECT_EQ(kExpectedData.freeSpeed.value(), unpacked_data.freeSpeed.value());
EXPECT_EQ(kExpectedData.R.value(), unpacked_data.R.value());
EXPECT_EQ(kExpectedData.Kv.value(), unpacked_data.Kv.value());
EXPECT_EQ(kExpectedData.Kt.value(), unpacked_data.Kt.value());
unpacked_data->freeCurrent.value());
EXPECT_EQ(kExpectedData.freeSpeed.value(), unpacked_data->freeSpeed.value());
EXPECT_EQ(kExpectedData.R.value(), unpacked_data->R.value());
EXPECT_EQ(kExpectedData.Kv.value(), unpacked_data->Kv.value());
EXPECT_EQ(kExpectedData.Kt.value(), unpacked_data->Kt.value());
}