Package edu.wpi.first.util.protobuf

Interface Protobuf<T,MessageType extends us.hebi.quickbuf.ProtoMessage<?>>

Type Parameters:
T - object type
MessageType - protobuf message type
All Known Implementing Classes:
ArmFeedforwardProto, ChassisSpeedsProto, CubicHermiteSplineProto, DCMotorProto, DifferentialDriveFeedforwardProto, DifferentialDriveKinematicsProto, DifferentialDriveWheelPositionsProto, DifferentialDriveWheelSpeedsProto, DifferentialDriveWheelVoltagesProto, ElevatorFeedforwardProto, Ellipse2dProto, LinearSystemProto, MatrixProto, MecanumDriveKinematicsProto, MecanumDriveWheelPositionsProto, MecanumDriveWheelSpeedsProto, Pose2dProto, Pose3dProto, QuaternionProto, QuinticHermiteSplineProto, Rectangle2dProto, Rotation2dProto, Rotation3dProto, SimpleMotorFeedforwardProto, SwerveDriveKinematicsProto, SwerveModulePositionProto, SwerveModuleStateProto, TrajectoryProto, TrajectoryStateProto, Transform2dProto, Transform3dProto, Translation2dProto, Translation3dProto, Twist2dProto, Twist3dProto, VectorProto
public interface Protobuf<T,MessageType extends us.hebi.quickbuf.ProtoMessage<?>>
Interface for Protobuf serialization.

This is designed for serialization of more complex data structures including forward/backwards compatibility and repeated/nested/variable length members, etc. Serialization and deserialization code is auto-generated from .proto interface descriptions (the MessageType generic parameter).

Idiomatically, classes that support protobuf serialization should provide a static final member named "proto" that provides an instance of an implementation of this interface, or a static final method named "getProto" if the class is generic.

  • Method Summary

    Modifier and Type
    Method
    Description
    default T
    clone(T obj)
    Creates a (deep) clone of the object.
    MessageType
    createMessage()
    Creates protobuf message.
    default void
    forEachDescriptor(Predicate<String> exists, BiConsumer<String,byte[]> fn)
    Loops over all protobuf descriptors including nested/referenced descriptors.
    us.hebi.quickbuf.Descriptors.Descriptor
    getDescriptor()
    Gets the protobuf descriptor.
    Class<T>
    getTypeClass()
    Gets the Class object for the stored value.
    default String
    getTypeString()
    Gets the type string (e.g.
    default boolean
    isCloneable()
    Returns whether or not objects are cloneable using the clone() method.
    default boolean
    isImmutable()
    Returns whether or not objects are immutable.
    void
    pack(MessageType msg, T value)
    Copies the object contents into a protobuf message.
    static void
    packArray(us.hebi.quickbuf.RepeatedDouble msg, double[] arr)
    Pack a serialized protobuf double array message.
    static <T, MessageType extends us.hebi.quickbuf.ProtoMessage<MessageType>>
    void
    packArray(us.hebi.quickbuf.RepeatedMessage<MessageType> msg, T[] arr, Protobuf<T,MessageType> proto)
    Pack a serialized protobuf array message.
    T
    unpack(MessageType msg)
    Deserializes an object from a protobuf message.
    static double[]
    unpackArray(us.hebi.quickbuf.RepeatedDouble msg)
    Unpack a serialized protobuf double array message.
    static <T, MessageType extends us.hebi.quickbuf.ProtoMessage<MessageType>>
    T[]
    unpackArray(us.hebi.quickbuf.RepeatedMessage<MessageType> msg, Protobuf<T,MessageType> proto)
    Unpack a serialized protobuf array message.
    default void
    unpackInto(T out, MessageType msg)
    Updates the object contents from a protobuf message.

  • Method Details

    • getTypeClass

      Class<T> getTypeClass()
      Gets the Class object for the stored value.
      Returns:
      Class

    • getTypeString

      default String getTypeString()
      Gets the type string (e.g. for NetworkTables). This should be globally unique and start with "proto:".
      Returns:
      type string

    • getDescriptor

      us.hebi.quickbuf.Descriptors.Descriptor getDescriptor()
      Gets the protobuf descriptor.
      Returns:
      descriptor

    • createMessage

      MessageType createMessage()
      Creates protobuf message.
      Returns:
      protobuf message

    • unpack

      T unpack(MessageType msg)
      Deserializes an object from a protobuf message.
      Parameters:
      msg - protobuf message
      Returns:
      New object

    • pack

      void pack(MessageType msg, T value)
      Copies the object contents into a protobuf message. Implementations should call either msg.setMember(member) or member.copyToProto(msg.getMutableMember()) for each member.
      Parameters:
      msg - protobuf message
      value - object to serialize

    • unpackInto

      default void unpackInto(T out, MessageType msg)
      Updates the object contents from a protobuf message. Implementations should call msg.getMember(member), MemberClass.makeFromProto(msg.getMember()), or member.updateFromProto(msg.getMember()) for each member.

      Immutable classes cannot and should not implement this function. The default implementation throws UnsupportedOperationException.

      Parameters:
      out - object to update
      msg - protobuf message
      Throws:
      UnsupportedOperationException - if the object is immutable

    • isImmutable

      default boolean isImmutable()
      Returns whether or not objects are immutable. Immutable objects must also be comparable using the equals() method. Default implementation returns false.
      Returns:
      True if object is immutable

    • isCloneable

      default boolean isCloneable()
      Returns whether or not objects are cloneable using the clone() method. Cloneable objects must also be comparable using the equals() method. Default implementation returns false.
      Returns:
      True if object is cloneable

    • clone

      default T clone(T obj) throws CloneNotSupportedException
      Creates a (deep) clone of the object. May also return the object directly if the object is immutable. Default implementation throws CloneNotSupportedException. Typically this should be implemented by implementing clone() on the object itself, and calling it from here.
      Parameters:
      obj - object to clone
      Returns:
      Clone of object (if immutable, may be same object)
      Throws:
      CloneNotSupportedException - if clone not supported

    • forEachDescriptor

      default void forEachDescriptor(Predicate<String> exists, BiConsumer<String,byte[]> fn)
      Loops over all protobuf descriptors including nested/referenced descriptors.
      Parameters:
      exists - function that returns false if fn should be called for the given type string
      fn - function to call for each descriptor

    • unpackArray

      static <T, MessageType extends us.hebi.quickbuf.ProtoMessage<MessageType>> T[] unpackArray(us.hebi.quickbuf.RepeatedMessage<MessageType> msg, Protobuf<T,MessageType> proto)
      Unpack a serialized protobuf array message.
      Type Parameters:
      T - object type
      MessageType - element type of the protobuf array
      Parameters:
      msg - protobuf array message
      proto - protobuf implementation
      Returns:
      Deserialized array

    • unpackArray

      static double[] unpackArray(us.hebi.quickbuf.RepeatedDouble msg)
      Unpack a serialized protobuf double array message.
      Parameters:
      msg - protobuf double array message
      Returns:
      Deserialized array

    • packArray

      static <T, MessageType extends us.hebi.quickbuf.ProtoMessage<MessageType>> void packArray(us.hebi.quickbuf.RepeatedMessage<MessageType> msg, T[] arr, Protobuf<T,MessageType> proto)
      Pack a serialized protobuf array message.
      Type Parameters:
      T - object type
      MessageType - element type of the protobuf array
      Parameters:
      msg - protobuf array message
      arr - array of objects
      proto - protobuf implementation

    • packArray

      static void packArray(us.hebi.quickbuf.RepeatedDouble msg, double[] arr)
      Pack a serialized protobuf double array message.
      Parameters:
      msg - protobuf double array message
      arr - array of objects