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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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13
wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.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/trajectory/Trajectory.h"
@@ -26,10 +26,11 @@ const Trajectory kExpectedData = Trajectory{std::vector<frc::Trajectory::State>{
} // namespace
TEST(TrajectoryProtoTest, 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;
Trajectory unpacked_data = ProtoType::Unpack(*proto);
EXPECT_EQ(kExpectedData.States(), unpacked_data.States());
ASSERT_TRUE(message.Pack(buf, kExpectedData));
auto unpacked_data = message.Unpack(buf);
ASSERT_TRUE(unpacked_data.has_value());
EXPECT_EQ(kExpectedData.States(), unpacked_data->States());
}

22
wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.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/trajectory/Trajectory.h"
@@ -20,15 +20,17 @@ const Trajectory::State kExpectedData = Trajectory::State{
} // namespace
TEST(TrajectoryStateProtoTest, 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;
Trajectory::State unpacked_data = ProtoType::Unpack(*proto);
EXPECT_EQ(kExpectedData.t.value(), unpacked_data.t.value());
EXPECT_EQ(kExpectedData.velocity.value(), unpacked_data.velocity.value());
ASSERT_TRUE(message.Pack(buf, kExpectedData));
auto unpacked_data = message.Unpack(buf);
ASSERT_TRUE(unpacked_data.has_value());
EXPECT_EQ(kExpectedData.t.value(), unpacked_data->t.value());
EXPECT_EQ(kExpectedData.velocity.value(), unpacked_data->velocity.value());
EXPECT_EQ(kExpectedData.acceleration.value(),
unpacked_data.acceleration.value());
EXPECT_EQ(kExpectedData.pose, unpacked_data.pose);
EXPECT_EQ(kExpectedData.curvature.value(), unpacked_data.curvature.value());
unpacked_data->acceleration.value());
EXPECT_EQ(kExpectedData.pose, unpacked_data->pose);
EXPECT_EQ(kExpectedData.curvature.value(), unpacked_data->curvature.value());
}