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The Google C++ protobuf implementation has issues with dynamic linkage across DLL boundaries because it uses global variables. It also has a compile-time dependency because the protoc version must exactly match the libprotobuf version. Using nanopb with a customized generator fixes both of these issues. Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
34 lines
1.2 KiB
C++
34 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/controller/proto/DifferentialDriveFeedforwardProto.h"
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#include "wpimath/protobuf/controller.npb.h"
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std::optional<frc::DifferentialDriveFeedforward>
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wpi::Protobuf<frc::DifferentialDriveFeedforward>::Unpack(InputStream& stream) {
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wpi_proto_ProtobufDifferentialDriveFeedforward msg;
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if (!stream.Decode(msg)) {
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return {};
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}
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return frc::DifferentialDriveFeedforward{
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decltype(1_V / 1_mps){msg.kv_linear},
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decltype(1_V / 1_mps_sq){msg.ka_linear},
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decltype(1_V / 1_mps){msg.kv_angular},
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decltype(1_V / 1_mps_sq){msg.ka_angular},
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};
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}
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bool wpi::Protobuf<frc::DifferentialDriveFeedforward>::Pack(
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OutputStream& stream, const frc::DifferentialDriveFeedforward& value) {
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wpi_proto_ProtobufDifferentialDriveFeedforward msg{
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.kv_linear = value.m_kVLinear.value(),
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.ka_linear = value.m_kALinear.value(),
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.kv_angular = value.m_kVAngular.value(),
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.ka_angular = value.m_kAAngular.value(),
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};
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return stream.Encode(msg);
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}
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