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[wpiutil] Add protobuf List pack/unpack for Java (#9042)

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To aid in simplifying the packing/unpacking of Lists to protobuf, this
adds helper methods that put the iteration logic in `Protobuf.java`,
similar to arrays. This makes packing/unpacking a List a single line,
similar to other types. Useful for #8776 and #8172.
This commit is contained in:
Alan Everett
2026-07-01 23:03:06 -07:00
committed by GitHub
parent f494ff8c0d
commit 9dabcb99f3
2 changed files with 40 additions and 12 deletions
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14
wpimath/src/main/java/org/wpilib/math/trajectory/proto/TrajectoryProto.java
View File

@@ -4,9 +4,7 @@
package org.wpilib.math.trajectory.proto;
import java.util.ArrayList;
import org.wpilib.math.proto.ProtobufTrajectory;
import org.wpilib.math.proto.ProtobufTrajectoryState;
import org.wpilib.math.trajectory.Trajectory;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
@@ -29,19 +27,11 @@ public class TrajectoryProto implements Protobuf<Trajectory, ProtobufTrajectory>
@Override
public Trajectory unpack(ProtobufTrajectory msg) {
ArrayList<Trajectory.State> states = new ArrayList<>(msg.getStates().length());
for (ProtobufTrajectoryState protoState : msg.getStates()) {
states.add(Trajectory.State.proto.unpack(protoState));
}
return new Trajectory(states);
return new Trajectory(Protobuf.unpackList(msg.getStates(), Trajectory.State.proto));
}
@Override
public void pack(ProtobufTrajectory msg, Trajectory value) {
var states = msg.getMutableStates().reserve(value.getStates().size());
for (var item : value.getStates()) {
Trajectory.State.proto.pack(states.next(), item);
}
Protobuf.packList(msg.getMutableStates(), value.getStates(), Trajectory.State.proto);
}
}

38
wpiutil/src/main/java/org/wpilib/util/protobuf/Protobuf.java
View File

@@ -5,6 +5,8 @@
package org.wpilib.util.protobuf;
import java.lang.reflect.Array;
import java.util.ArrayList;
import java.util.List;
import java.util.function.BiConsumer;
import java.util.function.Predicate;
import us.hebi.quickbuf.Descriptors.Descriptor;
@@ -180,6 +182,24 @@ public interface Protobuf<T, MessageType extends ProtoMessage<?>> {
return result;
}
/**
* Unpack a serialized protobuf array message to a list.
*
* @param <T> object type
* @param <MessageType> element type of the protobuf array
* @param msg protobuf array message
* @param proto protobuf implementation
* @return Deserialized list
*/
static <T, MessageType extends ProtoMessage<MessageType>> List<T> unpackList(
RepeatedMessage<MessageType> msg, Protobuf<T, MessageType> proto) {
ArrayList<T> result = new ArrayList<>(msg.length());
for (var item : msg) {
result.add(proto.unpack(item));
}
return result;
}
/**
* Pack a serialized protobuf array message.
*
@@ -209,4 +229,22 @@ public interface Protobuf<T, MessageType extends ProtoMessage<?>> {
msg.reserve(arr.length);
msg.addAll(arr);
}
/**
* Pack a serialized protobuf array message to a list.
*
* @param <T> object type
* @param <MessageType> element type of the protobuf array
* @param msg protobuf array message
* @param list list of objects
* @param proto protobuf implementation
*/
static <T, MessageType extends ProtoMessage<MessageType>> void packList(
RepeatedMessage<MessageType> msg, List<T> list, Protobuf<T, MessageType> proto) {
msg.clear();
msg.reserve(list.size());
for (var obj : list) {
proto.pack(msg.next(), obj);
}
}
}