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5ce72d43e4
Reverts #6609 since that fix didn't Just Work(tm) on Windows. (edit: or Ubuntu. Seems to have broken everything except macOS.) This PR configures CMake to try and find protobuf-config.cmake first, which allows protobuf to pull in abseil for us. If protobuf-config.cmake is not available (coprocessors which don't have a new enough protobuf installed are a common case), it will fallback to CMake's built-in FindProtobuf module, which is what we were using before. Add wpi::CreateMessage, a wrapper with an ifdef to switch between Arena::CreateMessage and Arena::Create, since the former is deprecated in newer versions of protobuf. This allows forward compatibility with newer versions of protobuf.
36 lines
1.2 KiB
C++
36 lines
1.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/geometry/proto/Twist3dProto.h"
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#include <wpi/ProtoHelper.h>
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#include "geometry3d.pb.h"
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google::protobuf::Message* wpi::Protobuf<frc::Twist3d>::New(
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google::protobuf::Arena* arena) {
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return wpi::CreateMessage<wpi::proto::ProtobufTwist3d>(arena);
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}
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frc::Twist3d wpi::Protobuf<frc::Twist3d>::Unpack(
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const google::protobuf::Message& msg) {
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auto m = static_cast<const wpi::proto::ProtobufTwist3d*>(&msg);
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return frc::Twist3d{
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units::meter_t{m->dx()}, units::meter_t{m->dy()},
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units::meter_t{m->dz()}, units::radian_t{m->rx()},
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units::radian_t{m->ry()}, units::radian_t{m->rz()},
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};
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}
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void wpi::Protobuf<frc::Twist3d>::Pack(google::protobuf::Message* msg,
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const frc::Twist3d& value) {
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auto m = static_cast<wpi::proto::ProtobufTwist3d*>(msg);
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m->set_dx(value.dx.value());
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m->set_dy(value.dy.value());
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m->set_dz(value.dz.value());
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m->set_rx(value.rx.value());
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m->set_ry(value.ry.value());
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m->set_rz(value.rz.value());
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}
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