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[build] Make Protobuf optional in CMake build (#7061)

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This commit is contained in:
Tyler Veness
2024-09-12 23:44:19 -07:00
committed by GitHub
parent b9409a4bcf
commit d44b651558
77 changed files with 168 additions and 73 deletions
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9
CMakeLists.txt
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@@ -81,6 +81,7 @@ option(WITH_EXAMPLES "Build examples" OFF)
option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
option(WITH_GUI "Build GUI items" ON)
option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
option(WITH_PROTOBUF "Build protobuf support" ON)
# Options for using a package manager (e.g., vcpkg) for certain dependencies.
option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
@@ -131,9 +132,11 @@ endif()
find_package(LIBSSH 0.7.1)
set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
set(protobuf_MODULE_COMPATIBLE ON CACHE BOOL "" FORCE)
find_package(Protobuf REQUIRED)
find_program(PROTOC_COMPILER protoc REQUIRED)
if(WITH_PROTOBUF)
set(protobuf_MODULE_COMPATIBLE ON CACHE BOOL "" FORCE)
find_package(Protobuf REQUIRED)
find_program(PROTOC_COMPILER protoc REQUIRED)
endif()
set(CMAKE_FIND_PACKAGE_PREFER_CONFIG OFF)
get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)

3
cmake/modules/AddTest.cmake
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@@ -2,6 +2,9 @@ include(CompileWarnings)
macro(wpilib_add_test name srcdir)
file(GLOB_RECURSE test_src ${srcdir}/*.cpp)
if(NOT WITH_PROTOBUF)
list(FILTER test_src EXCLUDE REGEX "/proto/")
endif()
add_executable(${name}_test ${test_src})
set_property(TARGET ${name}_test PROPERTY FOLDER "tests")
wpilib_target_warnings(${name}_test)

2
glass/src/lib/native/cpp/support/DataLogReaderThread.cpp
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@@ -109,11 +109,13 @@ void DataLogReaderThread::ReadMain() {
schema, err);
}
} else if (auto filename = wpi::remove_prefix(name, "/.schema/proto:")) {
#ifndef NO_PROTOBUF
// protobuf descriptor handling
if (!m_protoDb.Add(*filename, data)) {
wpi::print("could not decode protobuf '{}' filename '{}'\n", name,
*filename);
}
#endif
}
}

9
glass/src/lib/native/include/glass/support/DataLogReaderThread.h
View File

@@ -17,9 +17,12 @@
#include <wpi/DenseMap.h>
#include <wpi/Signal.h>
#include <wpi/mutex.h>
#include <wpi/protobuf/ProtobufMessageDatabase.h>
#include <wpi/struct/DynamicStruct.h>
#ifndef NO_PROTOBUF
#include <wpi/protobuf/ProtobufMessageDatabase.h>
#endif
namespace glass {
class DataLogReaderRange {
@@ -75,7 +78,9 @@ class DataLogReaderThread {
}
wpi::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
#ifndef NO_PROTOBUF
wpi::ProtobufMessageDatabase& GetProtobufDatabase() { return m_protoDb; }
#endif
const wpi::log::DataLogReader& GetReader() const { return m_reader; }
@@ -94,7 +99,9 @@ class DataLogReaderThread {
std::map<std::string, DataLogReaderEntry, std::less<>> m_entriesByName;
wpi::DenseMap<int, DataLogReaderEntry*> m_entriesById;
wpi::StructDescriptorDatabase m_structDb;
#ifndef NO_PROTOBUF
wpi::ProtobufMessageDatabase m_protoDb;
#endif
std::thread m_thread;
};

15
glass/src/libnt/native/cpp/NetworkTables.cpp
View File

@@ -14,8 +14,6 @@
#include <vector>
#include <fmt/format.h>
#include <google/protobuf/descriptor.h>
#include <google/protobuf/message.h>
#include <imgui.h>
#include <imgui_stdlib.h>
#include <networktables/NetworkTableInstance.h>
@@ -31,6 +29,11 @@
#include <wpi/print.h>
#include <wpi/raw_ostream.h>
#ifndef NO_PROTOBUF
#include <google/protobuf/descriptor.h>
#include <google/protobuf/message.h>
#endif
#include "glass/Context.h"
#include "glass/DataSource.h"
#include "glass/Storage.h"
@@ -346,6 +349,7 @@ static void UpdateStructValueSource(NetworkTablesModel& model,
}
}
#ifndef NO_PROTOBUF
static void UpdateProtobufValueSource(NetworkTablesModel& model,
NetworkTablesModel::ValueSource* out,
const google::protobuf::Message& msg,
@@ -534,6 +538,7 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
}
}
}
#endif
static void UpdateJsonValueSource(NetworkTablesModel& model,
NetworkTablesModel::ValueSource* out,
@@ -764,6 +769,7 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
valueChildren.clear();
}
} else if (auto filename = wpi::remove_prefix(typeStr, "proto:")) {
#ifndef NO_PROTOBUF
auto msg = model.m_protoDb.Find(*filename);
if (msg) {
msg->Clear();
@@ -777,6 +783,9 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
} else {
valueChildren.clear();
}
#else
valueChildren.clear();
#endif
} else {
valueChildren.clear();
}
@@ -902,6 +911,7 @@ void NetworkTablesModel::Update() {
wpi::remove_prefix(entry->info.name, "/.schema/proto:");
entry->value.IsRaw() && filename &&
entry->info.type_str == "proto:FileDescriptorProto") {
#ifndef NO_PROTOBUF
// protobuf descriptor handling
if (!m_protoDb.Add(*filename, entry->value.GetRaw())) {
wpi::print("could not decode protobuf '{}' filename '{}'\n",
@@ -918,6 +928,7 @@ void NetworkTablesModel::Update() {
}
}
}
#endif
}
}
}

9
glass/src/libnt/native/include/glass/networktables/NetworkTables.h
View File

@@ -18,9 +18,12 @@
#include <ntcore_cpp.h>
#include <wpi/DenseMap.h>
#include <wpi/json.h>
#include <wpi/protobuf/ProtobufMessageDatabase.h>
#include <wpi/struct/DynamicStruct.h>
#ifndef NO_PROTOBUF
#include <wpi/protobuf/ProtobufMessageDatabase.h>
#endif
#include "glass/Model.h"
#include "glass/View.h"
@@ -168,7 +171,9 @@ class NetworkTablesModel : public Model {
Entry* AddEntry(NT_Topic topic);
wpi::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
#ifndef NO_PROTOBUF
wpi::ProtobufMessageDatabase& GetProtobufDatabase() { return m_protoDb; }
#endif
private:
void RebuildTree();
@@ -191,7 +196,9 @@ class NetworkTablesModel : public Model {
Client m_server;
wpi::StructDescriptorDatabase m_structDb;
#ifndef NO_PROTOBUF
wpi::ProtobufMessageDatabase m_protoDb;
#endif
};
using NetworkTablesFlags = int;

1
wpimath/.styleguide
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@@ -38,6 +38,7 @@ includeOtherLibs {
^Eigen/
^fmt/
^gcem/
^google/
^gtest/
^unsupported/
^wpi/

45
wpimath/CMakeLists.txt
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@@ -6,9 +6,11 @@ include(AddTest)
include(DownloadAndCheck)
include(WpiProtobuf)
# workaround for makefiles - for some reason parent directories aren't created.
file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/protobuf")
file(GLOB wpimath_proto_src src/main/proto/*.proto)
if(WITH_PROTOBUF)
# workaround for makefiles - for some reason parent directories aren't created.
file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/protobuf")
file(GLOB wpimath_proto_src src/main/proto/*.proto)
endif()
file(
GLOB wpimath_jni_src
@@ -120,21 +122,28 @@ file(
src/main/native/thirdparty/sleipnir/src/*.cpp
)
list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
if(NOT WITH_PROTOBUF)
list(FILTER wpimath_native_src EXCLUDE REGEX "/proto/")
endif()
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
add_library(protobuf OBJECT)
target_link_libraries(protobuf wpiutil)
if(WITH_PROTOBUF)
add_library(protobuf OBJECT)
target_link_libraries(protobuf wpiutil)
add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
wpi_protobuf_generate(
TARGET
protobuf
PROTOS ${wpimath_proto_src}
PLUGIN ${PROTOC_WPILIB_PLUGIN}
PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/protobuf"
)
wpi_protobuf_generate(
TARGET
protobuf
PROTOS ${wpimath_proto_src}
PLUGIN ${PROTOC_WPILIB_PLUGIN}
PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/protobuf"
)
else()
add_library(wpimath ${wpimath_native_src})
endif()
if(MSVC)
get_property(IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
@@ -164,12 +173,18 @@ 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_compile_options(protobuf PUBLIC /utf-8 /bigobj)
endif()
if(WITH_PROTOBUF)
target_compile_features(protobuf PUBLIC cxx_std_20)
if(MSVC)
target_compile_options(protobuf PUBLIC /utf-8 /bigobj)
endif()
endif()
wpilib_target_warnings(wpimath)
target_link_libraries(wpimath wpiutil)

2
wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
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@@ -6,8 +6,6 @@
#include <sleipnir/optimization/OptimizationProblem.hpp>
#include "geometry2d.pb.h"
using namespace frc;
units::meter_t Ellipse2d::Distance(const Translation2d& point) const {

2
wpimath/src/main/native/cpp/geometry/Pose3d.cpp
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@@ -9,8 +9,6 @@
#include <Eigen/Core>
#include <wpi/json.h>
#include "geometry3d.pb.h"
using namespace frc;
namespace {

7
wpimath/src/main/native/cpp/geometry/Rectangle2d.cpp
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@@ -1,7 +0,0 @@
// 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.
#include "frc/geometry/Rectangle2d.h"
#include "geometry2d.pb.h"

1
wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
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@@ -8,7 +8,6 @@
#include <wpi/json.h>
#include "geometry2d.pb.h"
#include "units/math.h"
using namespace frc;

1
wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
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@@ -13,7 +13,6 @@
#include <wpi/json.h>
#include "frc/fmt/Eigen.h"
#include "geometry3d.pb.h"
#include "units/math.h"
#include "wpimath/MathShared.h"

1
wpimath/src/main/native/cpp/geometry/Transform2d.cpp
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@@ -5,7 +5,6 @@
#include "frc/geometry/Transform2d.h"
#include "frc/geometry/Pose2d.h"
#include "geometry2d.pb.h"
using namespace frc;

1
wpimath/src/main/native/cpp/geometry/Translation2d.cpp
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@@ -6,7 +6,6 @@
#include <wpi/json.h>
#include "geometry2d.pb.h"
#include "units/math.h"
using namespace frc;

1
wpimath/src/main/native/cpp/geometry/Translation3d.cpp
View File

@@ -6,7 +6,6 @@
#include <wpi/json.h>
#include "geometry3d.pb.h"
#include "units/length.h"
#include "units/math.h"

2
wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
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@@ -235,5 +235,7 @@ class WPILIB_DLLEXPORT ArmFeedforward {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/controller/proto/ArmFeedforwardProto.h"
#endif
#include "frc/controller/struct/ArmFeedforwardStruct.h"

2
wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h
View File

@@ -87,5 +87,7 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/controller/proto/DifferentialDriveFeedforwardProto.h"
#endif
#include "frc/controller/struct/DifferentialDriveFeedforwardStruct.h"

2
wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h
View File

@@ -21,5 +21,7 @@ struct DifferentialDriveWheelVoltages {
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/controller/proto/DifferentialDriveWheelVoltagesProto.h"
#endif
#include "frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h"

2
wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
View File

@@ -225,5 +225,7 @@ class ElevatorFeedforward {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/controller/proto/ElevatorFeedforwardProto.h"
#endif
#include "frc/controller/struct/ElevatorFeedforwardStruct.h"

2
wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
View File

@@ -208,5 +208,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Ellipse2dProto.h"
#endif
#include "frc/geometry/struct/Ellipse2dStruct.h"

2
wpimath/src/main/native/include/frc/geometry/Pose2d.h
View File

@@ -213,6 +213,8 @@ void from_json(const wpi::json& json, Pose2d& pose);
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Pose2dProto.h"
#endif
#include "frc/geometry/struct/Pose2dStruct.h"
#include "frc/geometry/Pose2d.inc"

2
wpimath/src/main/native/include/frc/geometry/Pose3d.h
View File

@@ -215,5 +215,7 @@ void from_json(const wpi::json& json, Pose3d& pose);
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Pose3dProto.h"
#endif
#include "frc/geometry/struct/Pose3dStruct.h"

2
wpimath/src/main/native/include/frc/geometry/Quaternion.h
View File

@@ -191,5 +191,7 @@ void from_json(const wpi::json& json, Quaternion& quaternion);
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/QuaternionProto.h"
#endif
#include "frc/geometry/struct/QuaternionStruct.h"

2
wpimath/src/main/native/include/frc/geometry/Rectangle2d.h
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@@ -206,5 +206,7 @@ class WPILIB_DLLEXPORT Rectangle2d {
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Rectangle2dProto.h"
#endif
#include "frc/geometry/struct/Rectangle2dStruct.h"

2
wpimath/src/main/native/include/frc/geometry/Rotation2d.h
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@@ -169,6 +169,8 @@ void from_json(const wpi::json& json, Rotation2d& rotation);
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Rotation2dProto.h"
#endif
#include "frc/geometry/struct/Rotation2dStruct.h"
#include "frc/geometry/Rotation2d.inc"

2
wpimath/src/main/native/include/frc/geometry/Rotation3d.h
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@@ -195,5 +195,7 @@ void from_json(const wpi::json& json, Rotation3d& rotation);
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Rotation3dProto.h"
#endif
#include "frc/geometry/struct/Rotation3dStruct.h"

2
wpimath/src/main/native/include/frc/geometry/Transform2d.h
View File

@@ -124,6 +124,8 @@ class WPILIB_DLLEXPORT Transform2d {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Transform2dProto.h"
#endif
#include "frc/geometry/struct/Transform2dStruct.h"
#include "frc/geometry/Transform2d.inc"

2
wpimath/src/main/native/include/frc/geometry/Transform3d.h
View File

@@ -130,5 +130,7 @@ class WPILIB_DLLEXPORT Transform3d {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Transform3dProto.h"
#endif
#include "frc/geometry/struct/Transform3dStruct.h"

2
wpimath/src/main/native/include/frc/geometry/Translation2d.h
View File

@@ -232,6 +232,8 @@ void from_json(const wpi::json& json, Translation2d& state);
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Translation2dProto.h"
#endif
#include "frc/geometry/struct/Translation2dStruct.h"
#include "frc/geometry/Translation2d.inc"

2
wpimath/src/main/native/include/frc/geometry/Translation3d.h
View File

@@ -199,6 +199,8 @@ void from_json(const wpi::json& json, Translation3d& state);
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Translation3dProto.h"
#endif
#include "frc/geometry/struct/Translation3dStruct.h"
#include "frc/geometry/Translation3d.inc"

2
wpimath/src/main/native/include/frc/geometry/Twist2d.h
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@@ -58,5 +58,7 @@ struct WPILIB_DLLEXPORT Twist2d {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Twist2dProto.h"
#endif
#include "frc/geometry/struct/Twist2dStruct.h"

2
wpimath/src/main/native/include/frc/geometry/Twist3d.h
View File

@@ -78,5 +78,7 @@ struct WPILIB_DLLEXPORT Twist3d {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/geometry/proto/Twist3dProto.h"
#endif
#include "frc/geometry/struct/Twist3dStruct.h"

2
wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
View File

@@ -279,5 +279,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/kinematics/proto/ChassisSpeedsProto.h"
#endif
#include "frc/kinematics/struct/ChassisSpeedsStruct.h"

2
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
View File

@@ -99,5 +99,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/kinematics/proto/DifferentialDriveKinematicsProto.h"
#endif
#include "frc/kinematics/struct/DifferentialDriveKinematicsStruct.h"

2
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
View File

@@ -50,5 +50,7 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
#endif
#include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"

2
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
View File

@@ -113,5 +113,7 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h"
#endif
#include "frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h"

2
wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
View File

@@ -200,5 +200,7 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/kinematics/proto/MecanumDriveKinematicsProto.h"
#endif
#include "frc/kinematics/struct/MecanumDriveKinematicsStruct.h"

2
wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
View File

@@ -61,5 +61,7 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelPositions {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/kinematics/proto/MecanumDriveWheelPositionsProto.h"
#endif
#include "frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h"

2
wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
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@@ -121,5 +121,7 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h"
#endif
#include "frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h"

2
wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
View File

@@ -43,5 +43,7 @@ struct WPILIB_DLLEXPORT SwerveModulePosition {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/kinematics/proto/SwerveModulePositionProto.h"
#endif
#include "frc/kinematics/struct/SwerveModulePositionStruct.h"

2
wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
View File

@@ -48,5 +48,7 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/kinematics/proto/SwerveModuleStateProto.h"
#endif
#include "frc/kinematics/struct/SwerveModuleStateStruct.h"

2
wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
View File

@@ -115,5 +115,7 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/spline/proto/CubicHermiteSplineProto.h"
#endif
#include "frc/spline/struct/CubicHermiteSplineStruct.h"

2
wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
View File

@@ -125,5 +125,7 @@ class WPILIB_DLLEXPORT QuinticHermiteSpline : public Spline<5> {
};
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/spline/proto/QuinticHermiteSplineProto.h"
#endif
#include "frc/spline/struct/QuinticHermiteSplineStruct.h"

1
wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.h
View File

@@ -6,7 +6,6 @@
#include <wpi/protobuf/Protobuf.h>
#include "frc/proto/MatrixProto.h"
#include "frc/system/LinearSystem.h"
template <int States, int Inputs, int Outputs>

1
wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.inc
View File

@@ -9,6 +9,7 @@
#include <fmt/format.h>
#include <wpi/ProtoHelper.h>
#include "frc/proto/MatrixProto.h"
#include "frc/system/proto/LinearSystemProto.h"
#include "system.pb.h"

2
wpimath/src/main/native/include/frc/trajectory/Trajectory.h
View File

@@ -146,5 +146,7 @@ void from_json(const wpi::json& json, Trajectory::State& state);
} // namespace frc
#ifndef NO_PROTOBUF
#include "frc/trajectory/proto/TrajectoryProto.h"
#include "frc/trajectory/proto/TrajectoryStateProto.h"
#endif

7
wpimath/src/test/native/cpp/ProtoTestBase.h
View File

@@ -4,15 +4,10 @@
#pragma once
#include <google/protobuf/arena.h>
#include <gtest/gtest.h>
#include <wpi/protobuf/Protobuf.h>
#include "controller.pb.h"
#include "kinematics.pb.h"
#include "spline.pb.h"
#include "system.pb.h"
#include "wpimath.pb.h"
template <typename T>
class ProtoTest : public testing::Test {};

2
wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
View File

@@ -2,9 +2,9 @@
// 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 "controller.pb.h"
#include "frc/controller/ArmFeedforward.h"
using namespace frc;

2
wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
View File

@@ -2,9 +2,9 @@
// 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 "controller.pb.h"
#include "frc/controller/DifferentialDriveWheelVoltages.h"
using namespace frc;

2
wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
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@@ -2,9 +2,9 @@
// 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 "controller.pb.h"
#include "frc/controller/ElevatorFeedforward.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
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@@ -2,10 +2,10 @@
// 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 "frc/geometry/Ellipse2d.h"
#include "geometry2d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
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@@ -2,10 +2,10 @@
// 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 "frc/geometry/Pose2d.h"
#include "geometry2d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
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@@ -2,10 +2,10 @@
// 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 "frc/geometry/Pose3d.h"
#include "geometry3d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
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@@ -2,10 +2,10 @@
// 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 "frc/geometry/Quaternion.h"
#include "geometry3d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
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@@ -2,10 +2,10 @@
// 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 "frc/geometry/Rectangle2d.h"
#include "geometry2d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/geometry/Rotation2d.h"
#include "geometry2d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/geometry/Rotation3d.h"
#include "geometry3d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/geometry/Transform2d.h"
#include "geometry2d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/geometry/Transform3d.h"
#include "geometry3d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/geometry/Translation2d.h"
#include "geometry2d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/geometry/Translation3d.h"
#include "geometry3d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/geometry/Twist2d.h"
#include "geometry2d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/geometry/Twist3d.h"
#include "geometry3d.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/kinematics/ChassisSpeeds.h"
#include "kinematics.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/kinematics/DifferentialDriveKinematics.h"
#include "kinematics.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/kinematics/DifferentialDriveWheelSpeeds.h"
#include "kinematics.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/kinematics/MecanumDriveKinematics.h"
#include "kinematics.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/kinematics/MecanumDriveWheelPositions.h"
#include "kinematics.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/kinematics/MecanumDriveWheelSpeeds.h"
#include "kinematics.pb.h"
using namespace frc;

1
wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
View File

@@ -2,6 +2,7 @@
// 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 "../../ProtoTestBase.h"

2
wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/kinematics/SwerveModulePosition.h"
#include "kinematics.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/kinematics/SwerveModuleState.h"
#include "kinematics.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/system/plant/DCMotor.h"
#include "plant.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/trajectory/Trajectory.h"
#include "trajectory.pb.h"
using namespace frc;

2
wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
View File

@@ -2,10 +2,10 @@
// 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 "frc/trajectory/Trajectory.h"
#include "trajectory.pb.h"
using namespace frc;

10
wpiutil/CMakeLists.txt
View File

@@ -121,6 +121,9 @@ file(
src/main/native/thirdparty/mpack/src/*.cpp
)
list(REMOVE_ITEM wpiutil_native_src ${wpiutil_jni_src})
if(NOT WITH_PROTOBUF)
list(FILTER wpiutil_native_src EXCLUDE REGEX "/protobuf/")
endif()
file(GLOB_RECURSE wpiutil_unix_src src/main/native/unix/*.cpp)
file(GLOB_RECURSE wpiutil_linux_src src/main/native/linux/*.cpp)
file(GLOB_RECURSE wpiutil_macos_src src/main/native/macOS/*.cpp)
@@ -143,7 +146,12 @@ if(MSVC)
target_compile_definitions(wpiutil PRIVATE -D_CRT_SECURE_NO_WARNINGS)
endif()
wpilib_target_warnings(wpiutil)
target_link_libraries(wpiutil protobuf::libprotobuf Threads::Threads ${CMAKE_DL_LIBS})
if(WITH_PROTOBUF)
target_link_libraries(wpiutil protobuf::libprotobuf Threads::Threads ${CMAKE_DL_LIBS})
else()
target_link_libraries(wpiutil Threads::Threads ${CMAKE_DL_LIBS})
target_compile_definitions(wpiutil PUBLIC NO_PROTOBUF)
endif()
if(ATOMIC)
target_link_libraries(wpiutil ${ATOMIC})