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Don't read protobuf static data across shared library lines directly (#6979)

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Reading exported data from shared objects on windows is broken. It requires __declspec(dllimport). However, this is problematic, as we use the same static libraries both from a shared and static context. So we can't just blindly apply dllimport.

The linker should have caught this, as data members are exported in a different way. However, due to a bug in native-utils, data member symbols were exposed directly. However, interacting with those data member was completely broken.

The only way we can really solve this is to just not use static data members. We're pretty good about this in WPILib itself. However, protobuf is absolutely terrible at this. There are a ton of inline functions that access global data. For the protobuf library itself, we can solve this easily enough.

However, for the generated protobuf code, this is much more problematic. The member needed to bypass the global data is private. This means using just the stock protobuf code, this problem is not solvable. But, protobuf generated code has insertion points. Those insertion points let us add our own code into the generated code via a protoc plugin. And it just so happens that an insertion point exists to add extra public methodsto the generated protobuf header. There is also an insertion point to let us add to the cpp file.

The methods we need are the getters, for unpacking protobufs. For any protobuf that has a message as a member, we generate a new wpi_x() getter (the existing one is just x(), where x is the field name). We then implement this in the cpp file. A trick we can use is in the cpp file, we can safely call the x() function, as the cpp file is in the same library as the global. Thus we can call that inline method, and not actually need to directly access any internal private state of the protobuf object.

TL;DR, all protobuf classes that have messages as fields now have a wpi_x() accessor that must be used instead of x() if you want the code to work on windows. After wpilibsuite/native-utils#212, the bad code will fail to link, rather then just fail at runtime.
This commit is contained in:
Thad House
2024-08-21 07:53:20 -07:00
committed by GitHub
parent eef516fcc9
commit a9ac5b8e24
40 changed files with 443 additions and 91 deletions
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3
.gitignore vendored
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@@ -252,3 +252,6 @@ coverage_report/
# ctest
/Testing/
# protobuf
!wpiprotoplugin.jar

5
CMakeLists.txt
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@@ -123,6 +123,9 @@ if(WITH_JAVA OR WITH_JAVA_SOURCE)
set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
find_package(Java REQUIRED COMPONENTS Development)
find_package(JNI REQUIRED COMPONENTS JVM)
else()
# Protoc requires the java runtime
find_package(Java REQUIRED COMPONENTS Runtime)
endif()
find_package(LIBSSH 0.7.1)
@@ -273,6 +276,8 @@ if(WITH_NTCORE)
add_subdirectory(ntcore)
endif()
add_subdirectory(protoplugin)
if(WITH_WPIMATH)
if(WITH_JAVA)
set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})

2
buildSrc/build.gradle
View File

@@ -9,5 +9,5 @@ repositories {
}
}
dependencies {
implementation "edu.wpi.first:native-utils:2025.1.0"
implementation "edu.wpi.first:native-utils:2025.2.0"
}

20
protoplugin/CMakeLists.txt Normal file
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@@ -0,0 +1,20 @@
project(protoplugin)
set(PROTO_JAR ${CMAKE_CURRENT_SOURCE_DIR}/binary/wpiprotoplugin.jar)
configure_file(
${CMAKE_CURRENT_SOURCE_DIR}/binary/wpiprotoplugin.sh.in
${CMAKE_CURRENT_BINARY_DIR}/wpiprotoplugin.sh
@ONLY
)
configure_file(
${CMAKE_CURRENT_SOURCE_DIR}/binary/wpiprotoplugin.bat.in
${CMAKE_CURRENT_BINARY_DIR}/wpiprotoplugin.bat
@ONLY
)
if(WIN32)
set(PROTOC_WPILIB_PLUGIN ${CMAKE_CURRENT_BINARY_DIR}/wpiprotoplugin.bat PARENT_SCOPE)
else()
set(PROTOC_WPILIB_PLUGIN ${CMAKE_CURRENT_BINARY_DIR}/wpiprotoplugin.sh PARENT_SCOPE)
endif()

2
protoplugin/binary/wpiprotoplugin.bat.in Normal file
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@@ -0,0 +1,2 @@
@ECHO OFF
"@Java_JAVA_EXECUTABLE@" -jar "@PROTO_JAR@" %*

BIN
protoplugin/binary/wpiprotoplugin.jar Normal file
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Binary file not shown.

2
protoplugin/binary/wpiprotoplugin.sh.in Executable file
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@@ -0,0 +1,2 @@
#!/bin/sh
exec "@Java_JAVA_EXECUTABLE@" -jar "@PROTO_JAR@" "$@"

33
protoplugin/build.gradle Normal file
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@@ -0,0 +1,33 @@
plugins {
id 'application'
id 'java'
id 'com.gradleup.shadow' version '8.3.0'
}
application {
mainClass = "org.wpilib.ProtoCDllGenerator"
}
repositories {
mavenCentral()
}
dependencies {
implementation "com.google.protobuf:protobuf-java:3.21.12"
}
java {
sourceCompatibility = 8
targetCompatibility = 8
}
def cshadow = project.tasks.register("copyShadow", Copy) {
from(tasks.shadowJar.archiveFile) {
rename {
"wpiprotoplugin.jar"
}
}
into layout.projectDirectory.dir("binary")
}
build.dependsOn cshadow

1
protoplugin/settings.gradle Normal file
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@@ -0,0 +1 @@

76
protoplugin/src/main/java/org/wpilib/ProtoCDllGenerator.java Normal file
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@@ -0,0 +1,76 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.
package org.wpilib;
import com.google.protobuf.compiler.PluginProtos.CodeGeneratorResponse;
import java.io.IOException;
import java.util.HashMap;
import java.util.Map;
import com.google.protobuf.DescriptorProtos.FileDescriptorProto;
import com.google.protobuf.Descriptors;
import com.google.protobuf.Descriptors.Descriptor;
import com.google.protobuf.Descriptors.DescriptorValidationException;
import com.google.protobuf.Descriptors.FieldDescriptor;
import com.google.protobuf.Descriptors.FieldDescriptor.Type;
import com.google.protobuf.compiler.PluginProtos.CodeGeneratorRequest;
public final class ProtoCDllGenerator {
private ProtoCDllGenerator() {
}
public static void main(String[] args) throws IOException, DescriptorValidationException {
CodeGeneratorRequest request = CodeGeneratorRequest.parseFrom(System.in);
Map<String, Descriptors.FileDescriptor> descriptors = new HashMap<>();
Descriptors.FileDescriptor[] tmpArray = new Descriptors.FileDescriptor[0];
for (FileDescriptorProto proto : request.getProtoFileList()) {
// Make array of file descriptors that exists
Descriptors.FileDescriptor[] depArray = descriptors.values().toArray(tmpArray);
Descriptors.FileDescriptor desc = Descriptors.FileDescriptor.buildFrom(proto, depArray);
descriptors.put(proto.getName(), desc);
}
// Filter to generated descriptors
CodeGeneratorResponse.Builder response = CodeGeneratorResponse.newBuilder();
for (String genFile : request.getFileToGenerateList()) {
Descriptors.FileDescriptor desc = descriptors.get(genFile);
for (Descriptor msg : desc.getMessageTypes()) {
for (FieldDescriptor field : msg.getFields()) {
if (field.getType() == Type.MESSAGE && !field.isRepeated()) {
// If we have a nested non repeated field, we need a custom accessor
String type = field.getMessageType().getFullName();
type = "::" + type.replaceAll("\\.", "::");
// Add definition
response.addFileBuilder()
.setName(desc.getName().replace("proto", "pb.h"))
.setInsertionPoint("class_scope:" + msg.getFullName())
.setContent("// Custom WPILib Accessor\n"
+ "bool wpi_has_" + field.getName() + "() const;\n"
+ "const " + type + "& wpi_" + field.getName() + "() const;\n");
// Add implementation. As were in the cc file for the proto
// we can just call straight through to the inline definitions
response.addFileBuilder()
.setName(desc.getName().replace("proto", "pb.cc"))
.setInsertionPoint("namespace_scope")
.setContent("// Custom WPILib Accessor\n"
+ "bool " + msg.getName() + "::wpi_has_" + field.getName() + "() const { return has_"
+ field.getName() + "(); }\n"
+ "const " + type + "& " + msg.getName() + "::wpi_" + field.getName() + "() const { return "
+ field.getName() + "(); }\n");
}
}
}
}
response.build().writeTo(System.out);
}
}

11
shared/java/javacommon.gradle
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@@ -148,8 +148,19 @@ protobuf {
protoc {
artifact = 'com.google.protobuf:protoc:3.21.12'
}
plugins {
wpilib {
path = rootProject.file("protoplugin/binary/wpiprotoplugin.jar")
}
}
generateProtoTasks {
all().configureEach { task ->
task.inputs.file(rootProject.file("protoplugin/binary/wpiprotoplugin.jar"))
task.plugins {
wpilib {
outputSubDir = 'cpp'
}
}
task.builtins {
cpp {}
remove java

2
upstream_utils/protobuf_patches/0001-Fix-sign-compare-warnings.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Sat, 10 Jun 2023 14:13:07 -0700
Subject: [PATCH 01/12] Fix sign-compare warnings
Subject: [PATCH 01/13] Fix sign-compare warnings
---
src/google/protobuf/compiler/importer.cc | 2 +-

2
upstream_utils/protobuf_patches/0002-Remove-redundant-move.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Sat, 10 Jun 2023 14:41:39 -0700
Subject: [PATCH 02/12] Remove redundant move
Subject: [PATCH 02/13] Remove redundant move
---
src/google/protobuf/extension_set.h | 2 +-

2
upstream_utils/protobuf_patches/0003-Fix-maybe-uninitialized-warnings.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Sat, 10 Jun 2023 15:00:20 -0700
Subject: [PATCH 03/12] Fix maybe-uninitialized warnings
Subject: [PATCH 03/13] Fix maybe-uninitialized warnings
---
src/google/protobuf/arena.cc | 6 +++---

2
upstream_utils/protobuf_patches/0004-Fix-coded_stream-WriteRaw.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Sat, 10 Jun 2023 15:03:38 -0700
Subject: [PATCH 04/12] Fix coded_stream WriteRaw
Subject: [PATCH 04/13] Fix coded_stream WriteRaw
---
src/google/protobuf/implicit_weak_message.h | 2 +-

2
upstream_utils/protobuf_patches/0005-Suppress-enum-enum-conversion-warning.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Sat, 10 Jun 2023 15:13:45 -0700
Subject: [PATCH 05/12] Suppress enum-enum conversion warning
Subject: [PATCH 05/13] Suppress enum-enum conversion warning
---
src/google/protobuf/generated_message_tctable_impl.h | 9 +++++++++

2
upstream_utils/protobuf_patches/0006-Fix-noreturn-function-returning.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Sat, 10 Jun 2023 15:16:46 -0700
Subject: [PATCH 06/12] Fix noreturn function returning
Subject: [PATCH 06/13] Fix noreturn function returning
---
src/google/protobuf/generated_message_tctable_impl.h | 3 +++

2
upstream_utils/protobuf_patches/0007-Work-around-GCC-12-restrict-warning-compiler-bug.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Sat, 10 Jun 2023 15:59:45 -0700
Subject: [PATCH 07/12] Work around GCC 12 restrict warning compiler bug
Subject: [PATCH 07/13] Work around GCC 12 restrict warning compiler bug
https://gcc.gnu.org/bugzilla/show_bug.cgi?id=105329
---

2
upstream_utils/protobuf_patches/0008-Disable-MSVC-switch-warning.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Tue, 13 Jun 2023 23:56:15 -0700
Subject: [PATCH 08/12] Disable MSVC switch warning
Subject: [PATCH 08/13] Disable MSVC switch warning
---
src/google/protobuf/generated_message_reflection.cc | 4 ++++

2
upstream_utils/protobuf_patches/0009-Disable-unused-function-warning.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Tue, 13 Jun 2023 23:58:50 -0700
Subject: [PATCH 09/12] Disable unused function warning
Subject: [PATCH 09/13] Disable unused function warning
---
src/google/protobuf/generated_message_tctable_lite.cc | 4 ++++

2
upstream_utils/protobuf_patches/0010-Disable-pedantic-warning.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Wed, 14 Jun 2023 00:02:26 -0700
Subject: [PATCH 10/12] Disable pedantic warning
Subject: [PATCH 10/13] Disable pedantic warning
---
src/google/protobuf/descriptor.h | 8 ++++++++

2
upstream_utils/protobuf_patches/0011-Avoid-use-of-sprintf.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Mon, 9 Oct 2023 19:28:08 -0700
Subject: [PATCH 11/12] Avoid use of sprintf
Subject: [PATCH 11/13] Avoid use of sprintf
---
src/google/protobuf/stubs/strutil.cc | 14 +++++++++++---

2
upstream_utils/protobuf_patches/0012-Suppress-stringop-overflow-warning-false-positives.patch
View File

@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Fri, 10 Nov 2023 14:17:53 -0800
Subject: [PATCH 12/12] Suppress stringop-overflow warning false positives
Subject: [PATCH 12/13] Suppress stringop-overflow warning false positives
---
src/google/protobuf/io/coded_stream.h | 7 +++++++

167
upstream_utils/protobuf_patches/0013-Switch-descriptor-to-not-use-globals-from-header-inl.patch Normal file
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@@ -0,0 +1,167 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Sun, 18 Aug 2024 22:43:37 -0700
Subject: [PATCH 13/13] Switch descriptor to not use globals from header inline
functions
---
src/google/protobuf/descriptor.cc | 66 +++++++++++++++++++------------
src/google/protobuf/descriptor.h | 20 +++++-----
2 files changed, 51 insertions(+), 35 deletions(-)
diff --git a/src/google/protobuf/descriptor.cc b/src/google/protobuf/descriptor.cc
index 5f3427dc72497b618c4dea3ec6985eeb39139349..5be05da4fb1c21fb1068ae7341cabef9dcf598a5 100644
--- a/src/google/protobuf/descriptor.cc
+++ b/src/google/protobuf/descriptor.cc
@@ -791,31 +791,31 @@ class Symbol {
const internal::SymbolBase* ptr_;
};
-const FieldDescriptor::CppType
- FieldDescriptor::kTypeToCppTypeMap[MAX_TYPE + 1] = {
- static_cast<CppType>(0), // 0 is reserved for errors
-
- CPPTYPE_DOUBLE, // TYPE_DOUBLE
- CPPTYPE_FLOAT, // TYPE_FLOAT
- CPPTYPE_INT64, // TYPE_INT64
- CPPTYPE_UINT64, // TYPE_UINT64
- CPPTYPE_INT32, // TYPE_INT32
- CPPTYPE_UINT64, // TYPE_FIXED64
- CPPTYPE_UINT32, // TYPE_FIXED32
- CPPTYPE_BOOL, // TYPE_BOOL
- CPPTYPE_STRING, // TYPE_STRING
- CPPTYPE_MESSAGE, // TYPE_GROUP
- CPPTYPE_MESSAGE, // TYPE_MESSAGE
- CPPTYPE_STRING, // TYPE_BYTES
- CPPTYPE_UINT32, // TYPE_UINT32
- CPPTYPE_ENUM, // TYPE_ENUM
- CPPTYPE_INT32, // TYPE_SFIXED32
- CPPTYPE_INT64, // TYPE_SFIXED64
- CPPTYPE_INT32, // TYPE_SINT32
- CPPTYPE_INT64, // TYPE_SINT64
+static const FieldDescriptor::CppType
+ kTypeToCppTypeMap[FieldDescriptor::MAX_TYPE + 1] = {
+ static_cast<FieldDescriptor::CppType>(0), // 0 is reserved for errors
+
+ FieldDescriptor::CPPTYPE_DOUBLE, // TYPE_DOUBLE
+ FieldDescriptor::CPPTYPE_FLOAT, // TYPE_FLOAT
+ FieldDescriptor::CPPTYPE_INT64, // TYPE_INT64
+ FieldDescriptor::CPPTYPE_UINT64, // TYPE_UINT64
+ FieldDescriptor::CPPTYPE_INT32, // TYPE_INT32
+ FieldDescriptor::CPPTYPE_UINT64, // TYPE_FIXED64
+ FieldDescriptor::CPPTYPE_UINT32, // TYPE_FIXED32
+ FieldDescriptor::CPPTYPE_BOOL, // TYPE_BOOL
+ FieldDescriptor::CPPTYPE_STRING, // TYPE_STRING
+ FieldDescriptor::CPPTYPE_MESSAGE, // TYPE_GROUP
+ FieldDescriptor::CPPTYPE_MESSAGE, // TYPE_MESSAGE
+ FieldDescriptor::CPPTYPE_STRING, // TYPE_BYTES
+ FieldDescriptor::CPPTYPE_UINT32, // TYPE_UINT32
+ FieldDescriptor::CPPTYPE_ENUM, // TYPE_ENUM
+ FieldDescriptor::CPPTYPE_INT32, // TYPE_SFIXED32
+ FieldDescriptor::CPPTYPE_INT64, // TYPE_SFIXED64
+ FieldDescriptor::CPPTYPE_INT32, // TYPE_SINT32
+ FieldDescriptor::CPPTYPE_INT64, // TYPE_SINT64
};
-const char* const FieldDescriptor::kTypeToName[MAX_TYPE + 1] = {
+static const char* const kTypeToName[FieldDescriptor::MAX_TYPE + 1] = {
"ERROR", // 0 is reserved for errors
"double", // TYPE_DOUBLE
@@ -838,7 +838,7 @@ const char* const FieldDescriptor::kTypeToName[MAX_TYPE + 1] = {
"sint64", // TYPE_SINT64
};
-const char* const FieldDescriptor::kCppTypeToName[MAX_CPPTYPE + 1] = {
+static const char* const kCppTypeToName[FieldDescriptor::MAX_CPPTYPE + 1] = {
"ERROR", // 0 is reserved for errors
"int32", // CPPTYPE_INT32
@@ -853,7 +853,7 @@ const char* const FieldDescriptor::kCppTypeToName[MAX_CPPTYPE + 1] = {
"message", // CPPTYPE_MESSAGE
};
-const char* const FieldDescriptor::kLabelToName[MAX_LABEL + 1] = {
+static const char* const kLabelToName[FieldDescriptor::MAX_LABEL + 1] = {
"ERROR", // 0 is reserved for errors
"optional", // LABEL_OPTIONAL
@@ -861,6 +861,22 @@ const char* const FieldDescriptor::kLabelToName[MAX_LABEL + 1] = {
"repeated", // LABEL_REPEATED
};
+const FieldDescriptor::CppType *FieldDescriptor::GetTypeToCppTypeMap() {
+ return kTypeToCppTypeMap;
+}
+
+const char* const *FieldDescriptor::GetTypeToName() {
+ return kTypeToName;
+}
+
+const char* const *FieldDescriptor::GetCppTypeToName() {
+ return kCppTypeToName;
+}
+
+const char* const *FieldDescriptor::GetLabelToName() {
+ return kLabelToName;
+}
+
const char* FileDescriptor::SyntaxName(FileDescriptor::Syntax syntax) {
switch (syntax) {
case SYNTAX_PROTO2:
diff --git a/src/google/protobuf/descriptor.h b/src/google/protobuf/descriptor.h
index bee3e32b9f1d5ba47b83d1e388716a3c3b6e82c6..1cb2421b5362a757abe3735e15321e630b1cab3e 100644
--- a/src/google/protobuf/descriptor.h
+++ b/src/google/protobuf/descriptor.h
@@ -976,13 +976,13 @@ class PROTOBUF_EXPORT FieldDescriptor : private internal::SymbolBase {
mutable std::atomic<const Message*> default_generated_instance_;
};
- static const CppType kTypeToCppTypeMap[MAX_TYPE + 1];
+ static const CppType *GetTypeToCppTypeMap();
- static const char* const kTypeToName[MAX_TYPE + 1];
+ static const char* const *GetTypeToName();
- static const char* const kCppTypeToName[MAX_CPPTYPE + 1];
+ static const char* const *GetCppTypeToName();
- static const char* const kLabelToName[MAX_LABEL + 1];
+ static const char* const *GetLabelToName();
// Must be constructed using DescriptorPool.
FieldDescriptor() {}
@@ -2392,27 +2392,27 @@ inline int MethodDescriptor::index() const {
}
inline const char* FieldDescriptor::type_name() const {
- return kTypeToName[type()];
+ return GetTypeToName()[type()];
}
inline FieldDescriptor::CppType FieldDescriptor::cpp_type() const {
- return kTypeToCppTypeMap[type()];
+ return GetTypeToCppTypeMap()[type()];
}
inline const char* FieldDescriptor::cpp_type_name() const {
- return kCppTypeToName[kTypeToCppTypeMap[type()]];
+ return GetCppTypeToName()[GetTypeToCppTypeMap()[type()]];
}
inline FieldDescriptor::CppType FieldDescriptor::TypeToCppType(Type type) {
- return kTypeToCppTypeMap[type];
+ return GetTypeToCppTypeMap()[type];
}
inline const char* FieldDescriptor::TypeName(Type type) {
- return kTypeToName[type];
+ return GetTypeToName()[type];
}
inline const char* FieldDescriptor::CppTypeName(CppType cpp_type) {
- return kCppTypeToName[cpp_type];
+ return GetCppTypeToName()[cpp_type];
}
inline bool FieldDescriptor::IsTypePackable(Type field_type) {

51
wpimath/CMakeLists.txt
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@@ -8,14 +8,6 @@ include(DownloadAndCheck)
# workaround for makefiles - for some reason parent directories aren't created.
file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/protobuf")
file(GLOB wpimath_proto_src src/main/proto/*.proto)
protobuf_generate_cpp(
WPIMATH_PROTO_SRCS
WPIMATH_PROTO_HDRS
PROTOC_OUT_DIR
"${CMAKE_CURRENT_BINARY_DIR}/protobuf"
PROTOS
${wpimath_proto_src}
)
file(
GLOB wpimath_jni_src
@@ -129,20 +121,53 @@ file(
list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
add_library(wpimath ${wpimath_native_src} ${WPIMATH_PROTO_SRCS})
add_library(protobuf OBJECT)
target_link_libraries(protobuf wpiutil)
add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
protobuf_generate(
TARGET protobuf
PROTOS ${wpimath_proto_src}
PLUGIN "protoc-gen-wpilib=${PROTOC_WPILIB_PLUGIN}"
PROTOC_OPTIONS "--cpp_out=${CMAKE_CURRENT_BINARY_DIR}/protobuf" # Needed to generate C++ source
PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/protobuf"
GENERATE_EXTENSIONS ".pb.h" ".pb.cc" # Enables CMake to add the generated sources to the target
LANGUAGE wpilib # Adds a --wpilib_out arg to let our plugin modify the generated protobuf code
APPEND_PATH
)
if(MSVC)
file(
GENERATE OUTPUT
${CMAKE_CURRENT_BINARY_DIR}/protobuf_objects.txt
CONTENT $<LIST:JOIN,$<TARGET_OBJECTS:protobuf>,\n>
)
add_custom_command(
TARGET wpimath
PRE_LINK
COMMAND
cmake -E __create_def ${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports.def
${CMAKE_CURRENT_BINARY_DIR}/protobuf_objects.txt
)
target_link_options(
wpimath
PRIVATE /DEF:$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports.def>
)
endif()
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
set_target_properties(wpimath PROPERTIES DEBUG_POSTFIX "d")
set_property(TARGET wpimath PROPERTY FOLDER "libraries")
target_compile_definitions(wpimath PRIVATE WPILIB_EXPORTS SLEIPNIR_EXPORTS)
target_compile_features(protobuf PUBLIC cxx_std_20)
target_compile_features(wpimath PUBLIC cxx_std_20)
if(MSVC)
target_compile_options(wpimath PUBLIC /utf-8 /bigobj)
target_link_options(
wpimath
PRIVATE /DEF:$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/exports.def>
)
target_compile_options(protobuf PUBLIC /utf-8 /bigobj)
endif()
wpilib_target_warnings(wpimath)
target_link_libraries(wpimath wpiutil)

2
wpimath/src/main/native/cpp/geometry/proto/Ellipse2dProto.cpp
View File

@@ -17,7 +17,7 @@ frc::Ellipse2d wpi::Protobuf<frc::Ellipse2d>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufEllipse2d*>(&msg);
return frc::Ellipse2d{
wpi::UnpackProtobuf<frc::Pose2d>(m->center()),
wpi::UnpackProtobuf<frc::Pose2d>(m->wpi_center()),
units::meter_t{m->xsemiaxis()},
units::meter_t{m->ysemiaxis()},
};

4
wpimath/src/main/native/cpp/geometry/proto/Pose2dProto.cpp
View File

@@ -17,8 +17,8 @@ frc::Pose2d wpi::Protobuf<frc::Pose2d>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufPose2d*>(&msg);
return frc::Pose2d{
wpi::UnpackProtobuf<frc::Translation2d>(m->translation()),
wpi::UnpackProtobuf<frc::Rotation2d>(m->rotation()),
wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_translation()),
wpi::UnpackProtobuf<frc::Rotation2d>(m->wpi_rotation()),
};
}

4
wpimath/src/main/native/cpp/geometry/proto/Pose3dProto.cpp
View File

@@ -17,8 +17,8 @@ frc::Pose3d wpi::Protobuf<frc::Pose3d>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufPose3d*>(&msg);
return frc::Pose3d{
wpi::UnpackProtobuf<frc::Translation3d>(m->translation()),
wpi::UnpackProtobuf<frc::Rotation3d>(m->rotation()),
wpi::UnpackProtobuf<frc::Translation3d>(m->wpi_translation()),
wpi::UnpackProtobuf<frc::Rotation3d>(m->wpi_rotation()),
};
}

2
wpimath/src/main/native/cpp/geometry/proto/Rectangle2dProto.cpp
View File

@@ -17,7 +17,7 @@ frc::Rectangle2d wpi::Protobuf<frc::Rectangle2d>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufRectangle2d*>(&msg);
return frc::Rectangle2d{
wpi::UnpackProtobuf<frc::Pose2d>(m->center()),
wpi::UnpackProtobuf<frc::Pose2d>(m->wpi_center()),
units::meter_t{m->xwidth()},
units::meter_t{m->ywidth()},
};

2
wpimath/src/main/native/cpp/geometry/proto/Rotation3dProto.cpp
View File

@@ -17,7 +17,7 @@ frc::Rotation3d wpi::Protobuf<frc::Rotation3d>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufRotation3d*>(&msg);
return frc::Rotation3d{
wpi::UnpackProtobuf<frc::Quaternion>(m->q()),
wpi::UnpackProtobuf<frc::Quaternion>(m->wpi_q()),
};
}

4
wpimath/src/main/native/cpp/geometry/proto/Transform2dProto.cpp
View File

@@ -17,8 +17,8 @@ frc::Transform2d wpi::Protobuf<frc::Transform2d>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufTransform2d*>(&msg);
return frc::Transform2d{
wpi::UnpackProtobuf<frc::Translation2d>(m->translation()),
wpi::UnpackProtobuf<frc::Rotation2d>(m->rotation()),
wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_translation()),
wpi::UnpackProtobuf<frc::Rotation2d>(m->wpi_rotation()),
};
}

4
wpimath/src/main/native/cpp/geometry/proto/Transform3dProto.cpp
View File

@@ -17,8 +17,8 @@ frc::Transform3d wpi::Protobuf<frc::Transform3d>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufTransform3d*>(&msg);
return frc::Transform3d{
wpi::UnpackProtobuf<frc::Translation3d>(m->translation()),
wpi::UnpackProtobuf<frc::Rotation3d>(m->rotation()),
wpi::UnpackProtobuf<frc::Translation3d>(m->wpi_translation()),
wpi::UnpackProtobuf<frc::Rotation3d>(m->wpi_rotation()),
};
}

8
wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp
View File

@@ -17,10 +17,10 @@ frc::MecanumDriveKinematics wpi::Protobuf<frc::MecanumDriveKinematics>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufMecanumDriveKinematics*>(&msg);
return frc::MecanumDriveKinematics{
wpi::UnpackProtobuf<frc::Translation2d>(m->front_left()),
wpi::UnpackProtobuf<frc::Translation2d>(m->front_right()),
wpi::UnpackProtobuf<frc::Translation2d>(m->rear_left()),
wpi::UnpackProtobuf<frc::Translation2d>(m->rear_right()),
wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_front_left()),
wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_front_right()),
wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_rear_left()),
wpi::UnpackProtobuf<frc::Translation2d>(m->wpi_rear_right()),
};
}

2
wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp
View File

@@ -18,7 +18,7 @@ frc::SwerveModulePosition wpi::Protobuf<frc::SwerveModulePosition>::Unpack(
auto m = static_cast<const wpi::proto::ProtobufSwerveModulePosition*>(&msg);
return frc::SwerveModulePosition{
units::meter_t{m->distance()},
wpi::UnpackProtobuf<frc::Rotation2d>(m->angle()),
wpi::UnpackProtobuf<frc::Rotation2d>(m->wpi_angle()),
};
}

2
wpimath/src/main/native/cpp/kinematics/proto/SwerveModuleStateProto.cpp
View File

@@ -18,7 +18,7 @@ frc::SwerveModuleState wpi::Protobuf<frc::SwerveModuleState>::Unpack(
auto m = static_cast<const wpi::proto::ProtobufSwerveModuleState*>(&msg);
return frc::SwerveModuleState{
units::meters_per_second_t{m->speed()},
wpi::UnpackProtobuf<frc::Rotation2d>(m->angle()),
wpi::UnpackProtobuf<frc::Rotation2d>(m->wpi_angle()),
};
}

2
wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp
View File

@@ -20,7 +20,7 @@ frc::Trajectory::State wpi::Protobuf<frc::Trajectory::State>::Unpack(
units::second_t{m->time()},
units::meters_per_second_t{m->velocity()},
units::meters_per_second_squared_t{m->acceleration()},
wpi::UnpackProtobuf<frc::Pose2d>(m->pose()),
wpi::UnpackProtobuf<frc::Pose2d>(m->wpi_pose()),
units::curvature_t{m->curvature()},
};
}

9
wpimath/src/main/native/exports.def
View File

@@ -1,9 +0,0 @@
EXPORTS
??$CreateMaybeMessage@VProtobufSimpleMotorFeedforward@proto@wpi@@$$V@Arena@protobuf@google@@CAPEAVProtobufSimpleMotorFeedforward@proto@wpi@@PEAV012@@Z
??$CreateMaybeMessage@VProtobufTranslation2d@proto@wpi@@$$V@Arena@protobuf@google@@CAPEAVProtobufTranslation2d@proto@wpi@@PEAV012@@Z
?Clear@ProtobufTranslation2d@proto@wpi@@UEAAXXZ
??$CreateMaybeMessage@VProtobufSwerveDriveKinematics@proto@wpi@@$$V@Arena@protobuf@google@@CAPEAVProtobufSwerveDriveKinematics@proto@wpi@@PEAV012@@Z
??$CreateMaybeMessage@VProtobufMatrix@proto@wpi@@$$V@Arena@protobuf@google@@CAPEAVProtobufMatrix@proto@wpi@@PEAV012@@Z
??$CreateMaybeMessage@VProtobufVector@proto@wpi@@$$V@Arena@protobuf@google@@CAPEAVProtobufVector@proto@wpi@@PEAV012@@Z
??$CreateMaybeMessage@VProtobufLinearSystem@proto@wpi@@$$V@Arena@protobuf@google@@CAPEAVProtobufLinearSystem@proto@wpi@@PEAV012@@Z
?_ProtobufMatrix_default_instance_@proto@wpi@@3UProtobufMatrixDefaultTypeInternal@12@A

8
wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.inc
View File

@@ -33,10 +33,10 @@ wpi::Protobuf<frc::LinearSystem<States, Inputs, Outputs>>::Unpack(
Outputs));
}
return frc::LinearSystem<States, Inputs, Outputs>{
wpi::UnpackProtobuf<frc::Matrixd<States, States>>(m->a()),
wpi::UnpackProtobuf<frc::Matrixd<States, Inputs>>(m->b()),
wpi::UnpackProtobuf<frc::Matrixd<Outputs, States>>(m->c()),
wpi::UnpackProtobuf<frc::Matrixd<Outputs, Inputs>>(m->d())};
wpi::UnpackProtobuf<frc::Matrixd<States, States>>(m->wpi_a()),
wpi::UnpackProtobuf<frc::Matrixd<States, Inputs>>(m->wpi_b()),
wpi::UnpackProtobuf<frc::Matrixd<Outputs, States>>(m->wpi_c()),
wpi::UnpackProtobuf<frc::Matrixd<Outputs, Inputs>>(m->wpi_d())};
}
template <int States, int Inputs, int Outputs>

20
wpiutil/src/main/native/thirdparty/protobuf/include/google/protobuf/descriptor.h vendored
View File

@@ -976,13 +976,13 @@ class PROTOBUF_EXPORT FieldDescriptor : private internal::SymbolBase {
mutable std::atomic<const Message*> default_generated_instance_;
};
static const CppType kTypeToCppTypeMap[MAX_TYPE + 1];
static const CppType *GetTypeToCppTypeMap();
static const char* const kTypeToName[MAX_TYPE + 1];
static const char* const *GetTypeToName();
static const char* const kCppTypeToName[MAX_CPPTYPE + 1];
static const char* const *GetCppTypeToName();
static const char* const kLabelToName[MAX_LABEL + 1];
static const char* const *GetLabelToName();
// Must be constructed using DescriptorPool.
FieldDescriptor() {}
@@ -2392,27 +2392,27 @@ inline int MethodDescriptor::index() const {
}
inline const char* FieldDescriptor::type_name() const {
return kTypeToName[type()];
return GetTypeToName()[type()];
}
inline FieldDescriptor::CppType FieldDescriptor::cpp_type() const {
return kTypeToCppTypeMap[type()];
return GetTypeToCppTypeMap()[type()];
}
inline const char* FieldDescriptor::cpp_type_name() const {
return kCppTypeToName[kTypeToCppTypeMap[type()]];
return GetCppTypeToName()[GetTypeToCppTypeMap()[type()]];
}
inline FieldDescriptor::CppType FieldDescriptor::TypeToCppType(Type type) {
return kTypeToCppTypeMap[type];
return GetTypeToCppTypeMap()[type];
}
inline const char* FieldDescriptor::TypeName(Type type) {
return kTypeToName[type];
return GetTypeToName()[type];
}
inline const char* FieldDescriptor::CppTypeName(CppType cpp_type) {
return kCppTypeToName[cpp_type];
return GetCppTypeToName()[cpp_type];
}
inline bool FieldDescriptor::IsTypePackable(Type field_type) {

64
wpiutil/src/main/native/thirdparty/protobuf/src/descriptor.cpp vendored
View File

@@ -791,31 +791,31 @@ class Symbol {
const internal::SymbolBase* ptr_;
};
const FieldDescriptor::CppType
FieldDescriptor::kTypeToCppTypeMap[MAX_TYPE + 1] = {
static_cast<CppType>(0), // 0 is reserved for errors
static const FieldDescriptor::CppType
kTypeToCppTypeMap[FieldDescriptor::MAX_TYPE + 1] = {
static_cast<FieldDescriptor::CppType>(0), // 0 is reserved for errors
CPPTYPE_DOUBLE, // TYPE_DOUBLE
CPPTYPE_FLOAT, // TYPE_FLOAT
CPPTYPE_INT64, // TYPE_INT64
CPPTYPE_UINT64, // TYPE_UINT64
CPPTYPE_INT32, // TYPE_INT32
CPPTYPE_UINT64, // TYPE_FIXED64
CPPTYPE_UINT32, // TYPE_FIXED32
CPPTYPE_BOOL, // TYPE_BOOL
CPPTYPE_STRING, // TYPE_STRING
CPPTYPE_MESSAGE, // TYPE_GROUP
CPPTYPE_MESSAGE, // TYPE_MESSAGE
CPPTYPE_STRING, // TYPE_BYTES
CPPTYPE_UINT32, // TYPE_UINT32
CPPTYPE_ENUM, // TYPE_ENUM
CPPTYPE_INT32, // TYPE_SFIXED32
CPPTYPE_INT64, // TYPE_SFIXED64
CPPTYPE_INT32, // TYPE_SINT32
CPPTYPE_INT64, // TYPE_SINT64
FieldDescriptor::CPPTYPE_DOUBLE, // TYPE_DOUBLE
FieldDescriptor::CPPTYPE_FLOAT, // TYPE_FLOAT
FieldDescriptor::CPPTYPE_INT64, // TYPE_INT64
FieldDescriptor::CPPTYPE_UINT64, // TYPE_UINT64
FieldDescriptor::CPPTYPE_INT32, // TYPE_INT32
FieldDescriptor::CPPTYPE_UINT64, // TYPE_FIXED64
FieldDescriptor::CPPTYPE_UINT32, // TYPE_FIXED32
FieldDescriptor::CPPTYPE_BOOL, // TYPE_BOOL
FieldDescriptor::CPPTYPE_STRING, // TYPE_STRING
FieldDescriptor::CPPTYPE_MESSAGE, // TYPE_GROUP
FieldDescriptor::CPPTYPE_MESSAGE, // TYPE_MESSAGE
FieldDescriptor::CPPTYPE_STRING, // TYPE_BYTES
FieldDescriptor::CPPTYPE_UINT32, // TYPE_UINT32
FieldDescriptor::CPPTYPE_ENUM, // TYPE_ENUM
FieldDescriptor::CPPTYPE_INT32, // TYPE_SFIXED32
FieldDescriptor::CPPTYPE_INT64, // TYPE_SFIXED64
FieldDescriptor::CPPTYPE_INT32, // TYPE_SINT32
FieldDescriptor::CPPTYPE_INT64, // TYPE_SINT64
};
const char* const FieldDescriptor::kTypeToName[MAX_TYPE + 1] = {
static const char* const kTypeToName[FieldDescriptor::MAX_TYPE + 1] = {
"ERROR", // 0 is reserved for errors
"double", // TYPE_DOUBLE
@@ -838,7 +838,7 @@ const char* const FieldDescriptor::kTypeToName[MAX_TYPE + 1] = {
"sint64", // TYPE_SINT64
};
const char* const FieldDescriptor::kCppTypeToName[MAX_CPPTYPE + 1] = {
static const char* const kCppTypeToName[FieldDescriptor::MAX_CPPTYPE + 1] = {
"ERROR", // 0 is reserved for errors
"int32", // CPPTYPE_INT32
@@ -853,7 +853,7 @@ const char* const FieldDescriptor::kCppTypeToName[MAX_CPPTYPE + 1] = {
"message", // CPPTYPE_MESSAGE
};
const char* const FieldDescriptor::kLabelToName[MAX_LABEL + 1] = {
static const char* const kLabelToName[FieldDescriptor::MAX_LABEL + 1] = {
"ERROR", // 0 is reserved for errors
"optional", // LABEL_OPTIONAL
@@ -861,6 +861,22 @@ const char* const FieldDescriptor::kLabelToName[MAX_LABEL + 1] = {
"repeated", // LABEL_REPEATED
};
const FieldDescriptor::CppType *FieldDescriptor::GetTypeToCppTypeMap() {
return kTypeToCppTypeMap;
}
const char* const *FieldDescriptor::GetTypeToName() {
return kTypeToName;
}
const char* const *FieldDescriptor::GetCppTypeToName() {
return kCppTypeToName;
}
const char* const *FieldDescriptor::GetLabelToName() {
return kLabelToName;
}
const char* FileDescriptor::SyntaxName(FileDescriptor::Syntax syntax) {
switch (syntax) {
case SYNTAX_PROTO2: