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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.
35 lines
1.5 KiB
C++
35 lines
1.5 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/kinematics/proto/MecanumDriveKinematicsProto.h"
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#include <wpi/ProtoHelper.h>
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#include "kinematics.pb.h"
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google::protobuf::Message* wpi::Protobuf<frc::MecanumDriveKinematics>::New(
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google::protobuf::Arena* arena) {
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return wpi::CreateMessage<wpi::proto::ProtobufMecanumDriveKinematics>(arena);
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}
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frc::MecanumDriveKinematics wpi::Protobuf<frc::MecanumDriveKinematics>::Unpack(
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const google::protobuf::Message& msg) {
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auto m = static_cast<const wpi::proto::ProtobufMecanumDriveKinematics*>(&msg);
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return frc::MecanumDriveKinematics{
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wpi::UnpackProtobuf<frc::Translation2d>(m->front_left()),
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wpi::UnpackProtobuf<frc::Translation2d>(m->front_right()),
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wpi::UnpackProtobuf<frc::Translation2d>(m->rear_left()),
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wpi::UnpackProtobuf<frc::Translation2d>(m->rear_right()),
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};
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}
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void wpi::Protobuf<frc::MecanumDriveKinematics>::Pack(
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google::protobuf::Message* msg, const frc::MecanumDriveKinematics& value) {
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auto m = static_cast<wpi::proto::ProtobufMecanumDriveKinematics*>(msg);
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wpi::PackProtobuf(m->mutable_front_left(), value.GetFrontLeft());
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wpi::PackProtobuf(m->mutable_front_right(), value.GetFrontRight());
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wpi::PackProtobuf(m->mutable_rear_left(), value.GetRearLeft());
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wpi::PackProtobuf(m->mutable_rear_right(), value.GetRearRight());
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}
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