start using regular protobuf instead of nanopb

Fix using full version of protobuf

fix issue with lora config defaults

fix a few things in cmake files

fix cmake flags

minor protobuf build fixes

.gitmodules

@@ -13,3 +13,6 @@
 [submodule "components/minmea/minmea"]
 	path = components/minmea/minmea
 	url = https://github.com/kosma/minmea.git
+[submodule "components/protobuf/protobuf"]
+	path = components/protobuf/protobuf
+	url = https://github.com/protocolbuffers/protobuf.git

components/nanopb/functions.cmake

@@ -18,7 +18,6 @@ function(nanopb_generate PROTO_FILE PB_OUT HDR_VAR SRC_VAR)
             DEPENDS ${PROTO_FILE_PATH}
             COMMENT "Generating nanopb sources for ${PROTO_FILE}")
         set_property(SOURCE ${PROTO_HDR} ${PROTO_SRC} PROPERTY GENERATED TRUE)
+        set_property(DIRECTORY . APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES ${PROTO_HDR} ${PROTO_SRC})
     endif()
-    list(APPEND ADDITIONAL_MAKE_CLEAN_FILES ${PROTO_HDR} ${PROTO_SRC})
 endfunction()
-

components/protobuf/CMakeLists.txt

@@ -0,0 +1,35 @@
+set(protobuf_source_dir ${CMAKE_CURRENT_LIST_DIR}/protobuf)
+
+set(libprotobuf_lite_files
+  ${protobuf_source_dir}/src/google/protobuf/arena.cc
+  ${protobuf_source_dir}/src/google/protobuf/arenastring.cc
+  ${protobuf_source_dir}/src/google/protobuf/extension_set.cc
+  ${protobuf_source_dir}/src/google/protobuf/generated_message_util.cc
+  ${protobuf_source_dir}/src/google/protobuf/io/coded_stream.cc
+  ${protobuf_source_dir}/src/google/protobuf/io/zero_copy_stream.cc
+  ${protobuf_source_dir}/src/google/protobuf/io/zero_copy_stream_impl_lite.cc
+  ${protobuf_source_dir}/src/google/protobuf/message_lite.cc
+  ${protobuf_source_dir}/src/google/protobuf/repeated_field.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/atomicops_internals_x86_gcc.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/atomicops_internals_x86_msvc.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/bytestream.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/common.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/int128.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/once.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/status.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/statusor.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/stringpiece.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/stringprintf.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/structurally_valid.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/strutil.cc
+  ${protobuf_source_dir}/src/google/protobuf/stubs/time.cc
+  ${protobuf_source_dir}/src/google/protobuf/wire_format_lite.cc
+)
+
+set(COMPONENT_SRCS ${libprotobuf_lite_files})
+set(COMPONENT_ADD_INCLUDEDIRS ${protobuf_source_dir}/src)
+
+register_component()
+
+component_compile_options(PUBLIC -DGOOGLE_PROTOBUF_NO_RTTI -Wno-error=maybe-uninitialized
+  PRIVATE -DHAVE_PTHREAD)

components/protobuf/functions.cmake

@@ -0,0 +1,22 @@
+find_program(PROTOC protoc)
+
+function(proto_generate_cpp PROTO_FILE PB_OUT HDR_VAR SRC_VAR)
+    get_filename_component(PROTO_FILE_NAME ${PROTO_FILE} NAME_WE)
+    get_filename_component(PROTO_FILE_PATH ${PROTO_FILE} ABSOLUTE BASE_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+    get_filename_component(PROTO_FILE_DIR ${PROTO_FILE_PATH} DIRECTORY)
+    set(PROTO_HDR "${PB_OUT}/${PROTO_FILE_NAME}.pb.h")
+    set(PROTO_SRC "${PB_OUT}/${PROTO_FILE_NAME}.pb.cc")
+    set(${HDR_VAR} ${${HDR_VAR}} ${PROTO_HDR} PARENT_SCOPE)
+    set(${SRC_VAR} ${${SRC_VAR}} ${PROTO_SRC} PARENT_SCOPE)
+    if(NOT CMAKE_SCRIPT_MODE_FILE)
+        add_custom_command(OUTPUT ${PROTO_HDR} ${PROTO_SRC}
+            COMMAND ${PROTOC}
+                --cpp_out=${PB_OUT}
+                --proto_path ${PROTO_FILE_DIR}
+                ${PROTO_FILE_PATH}
+            DEPENDS ${PROTO_FILE_PATH}
+            COMMENT "Generating nanopb sources for ${PROTO_FILE}")
+        set_property(SOURCE ${PROTO_HDR} ${PROTO_SRC} PROPERTY GENERATED TRUE)
+        set_property(DIRECTORY . APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES ${PROTO_HDR} ${PROTO_SRC})
+    endif()
+endfunction()

main/CMakeLists.txt

@@ -1,21 +1,25 @@
-include(${CMAKE_CURRENT_LIST_DIR}/../components/nanopb/functions.cmake)
+include(${CMAKE_CURRENT_LIST_DIR}/../components/protobuf/functions.cmake)
 
 set(PB_OUT ${CMAKE_CURRENT_SOURCE_DIR}/pb_out)
 
-make_directory(${PB_OUT})
+set(COMPONENT_SRCS
-nanopb_generate(messages.proto ${PB_OUT} PROTO_HDRS PROTO_SRCS)
+    "ugv_main.cc"
-
+    "ugv_comms.cc"
-list(APPEND COMPONENT_SRCS "ugv_main.cc"
-    "ugv_comms.c"
     "ugv_io.cc"
     "ugv_io_gps.cc"
     "ugv_io_mpu.cc"
     "u8g2_esp32_hal.c"
     "Print.cpp"
-    ${PROTO_SRCS})
+)
 set(COMPONENT_PRIV_INCLUDEDIRS "." ${PB_OUT})
-set(COMPONENT_REQUIRES "u8g2" "sx127x_driver" "nanopb" "MPU-driver" "minmea")
+set(COMPONENT_REQUIRES "u8g2" "sx127x_driver" "protobuf" "MPU-driver" "minmea")
+
+proto_generate_cpp(messages.proto ${PB_OUT} PROTO_HDRS PROTO_SRCS)
+list(APPEND COMPONENT_SRCS ${PROTO_SRCS} ${PROTO_HDRS})
 
 register_component()
 
+make_directory(${PB_OUT})
+
 component_compile_options("-Werror=incompatible-pointer-types")
+component_compile_options(-I${PB_OUT})

main/messages.proto

@@ -2,6 +2,8 @@ syntax = "proto3";
 
 package uas.ugv;
 
+option optimize_for = LITE_RUNTIME;
+
 enum UGV_State {
   IDLE = 0;
   AQUIRING = 1;

main/ugv_comms.cc

@@ -2,11 +2,11 @@
 #include "ugv_config.h"
 
 #include <esp_log.h>
-#include <pb_decode.h>
-#include <pb_encode.h>
 
 #include "messages.pb.h"
 
+ugv_comms_state_t ugv_comms_state;
+
 static const char *TAG = "ugv_comms";
 
 static void     ugv_comms_task(void *arg);
@@ -16,20 +16,20 @@ static void ugv_comms_task(void *arg);
 static void ugv_comms_handle_packet(ugv_comms_state_t * st,
                                     sx127x_rx_packet_t *rx_packet);
 static void ugv_comms_handle_command(ugv_comms_state_t *      st,
-                                     uas_ugv_GroundCommand *command);
+                                     const uas::ugv::GroundCommand *command);
 
 void ugv_comms_init() {
   ugv_comms_state_t *st = &ugv_comms_state;
 
   st->mutex = xSemaphoreCreateMutex();
 
-  sx127x_config_t lora_config  = SX127X_CONFIG_DEFAULT;
+  sx127x_config_t lora_config = sx127x_config_default();
-  lora_config.sck_io_num       = LORA_SCK;
+  lora_config.sck_io_num       = (gpio_num_t)LORA_SCK;
-  lora_config.miso_io_num      = LORA_MISO;
+  lora_config.miso_io_num      = (gpio_num_t)LORA_MISO;
-  lora_config.mosi_io_num      = LORA_MOSI;
+  lora_config.mosi_io_num      = (gpio_num_t)LORA_MOSI;
-  lora_config.cs_io_num        = LORA_CS;
+  lora_config.cs_io_num        = (gpio_num_t)LORA_CS;
-  lora_config.rst_io_num       = LORA_RST;
+  lora_config.rst_io_num       = (gpio_num_t)LORA_RST;
-  lora_config.irq_io_num       = LORA_IRQ;
+  lora_config.irq_io_num       = (gpio_num_t)LORA_IRQ;
   lora_config.frequency        = LORA_FREQ;
   lora_config.tx_power         = 17;
   lora_config.spreading_factor = 12;
@@ -38,9 +38,10 @@ void ugv_comms_init() {
   lora_config.crc              = SX127X_CRC_ENABLED;
 
   esp_err_t ret;
-  uas_ugv_Location loc = uas_ugv_Location_init_default;
+
+  uas::ugv::Location loc;
   memcpy(&st->location, &loc, sizeof(loc));
-  st->ugv_state        = uas_ugv_UGV_State_IDLE;
+  st->ugv_state        = uas::ugv::UGV_State::IDLE;
   st->last_packet_tick = 0;
   st->last_packet_rssi = INT32_MIN;
   st->last_packet_snr  = INT8_MIN;
@@ -73,13 +74,14 @@ static void ugv_comms_task(void *param) {
   esp_err_t          ret;
   sx127x_rx_packet_t rx_packet;
 
-  uas_ugv_UGV_Message ugv_message = uas_ugv_UGV_Message_init_default;
+  uas::ugv::UGV_Message ugv_message;
-  ugv_message.which_ugv_message   = uas_ugv_UGV_Message_status_tag;
+  uas::ugv::UGV_Status *status   = ugv_message.mutable_status();
-  ugv_message.ugv_message.status.location.fix_quality = 0;
+  uas::ugv::Location *  location = status->mutable_location();
-  ugv_message.ugv_message.status.location.latitude    = 43.65;
+  location->set_fix_quality(0);
-  ugv_message.ugv_message.status.location.longitude   = -116.20;
+  location->set_latitude(43.65);
-  ugv_message.ugv_message.status.location.altitude    = 2730;
+  location->set_longitude(-116.20);
-  ugv_message.ugv_message.status.state                = uas_ugv_UGV_State_IDLE;
+  location->set_altitude(2730);
+  status->set_state(uas::ugv::UGV_State::IDLE);
 
   while (true) {
     TickType_t delay_ticks = next_send - current_tick;
@@ -97,9 +99,12 @@ static void ugv_comms_task(void *param) {
     }
 
     packet_num++;
-    ret = sx127x_send_packet_pb(st->lora, uas_ugv_UGV_Message_fields,
+    auto str = ugv_message.SerializeAsString();
-                                &ugv_message,
+    ret      = sx127x_send_packet(st->lora, str.c_str(), str.size(),
                              0);  // 0 means error if queue full
+    // ret = sx127x_send_packet_pb(st->lora, uas_ugv_UGV_Message_fields,
+    //                             &ugv_message,
+    //                             0);  // 0 means error if queue full
     if (ret != ESP_OK) {
       ESP_LOGE(TAG, "error sending packet: %d", ret);
     } else {
@@ -123,37 +128,34 @@ static void ugv_comms_handle_packet(ugv_comms_state_t * st,
   st->last_packet_snr  = rx_packet->snr;
   xSemaphoreGive(st->mutex);
 
-  uas_ugv_GroundMessage ground_message = uas_ugv_GroundMessage_init_default;
+  uas::ugv::GroundMessage ground_message;
-  pb_istream_t          istream;
   bool                    pb_ret;
 
-  istream =
+  pb_ret = ground_message.ParseFromArray(rx_packet->data, rx_packet->data_len);
-      pb_istream_from_buffer((pb_byte_t *)rx_packet->data, rx_packet->data_len);
-  pb_ret = pb_decode(&istream, uas_ugv_GroundMessage_fields, &ground_message);
   if (!pb_ret) {
     ESP_LOGE(TAG, "rx invalid protobuf");
     return;
   }
 
-  switch (ground_message.which_ground_message) {
+  switch (ground_message.ground_message_case()) {
-    case uas_ugv_GroundMessage_command_tag:
+    case uas::ugv::GroundMessage::kCommand:
-      ugv_comms_handle_command(st, &ground_message.ground_message.command);
+      ugv_comms_handle_command(st, &ground_message.command());
       break;
     default:
       ESP_LOGE(TAG, "invalid ground message: %d",
-               ground_message.which_ground_message);
+               ground_message.ground_message_case());
       break;
   }
 }
 
 static void ugv_comms_handle_command(ugv_comms_state_t *            st,
-                                     uas_ugv_GroundCommand *command) {
+                                     const uas::ugv::GroundCommand *command) {
-  ESP_LOGI(TAG, "rx command id %d type %d", command->id, command->type);
+  ESP_LOGI(TAG, "rx command id %d type %d", command->id(), command->type());
   // TODO: handle command
 
-  uas_ugv_UGV_Message ugv_message     = uas_ugv_UGV_Message_init_default;
+  uas::ugv::UGV_Message ugv_message;
-  ugv_message.which_ugv_message       = uas_ugv_UGV_Message_command_ack_tag;
+  ugv_message.set_command_ack(command->id());
-  ugv_message.ugv_message.command_ack = command->id;
 
-  sx127x_send_packet_pb(st->lora, uas_ugv_UGV_Message_fields, &ugv_message, 0);
+  std::string str = ugv_message.SerializeAsString();
+  sx127x_send_packet(st->lora, str.c_str(), str.size(), 0);
 }

main/ugv_comms.h

@@ -16,14 +16,14 @@ typedef struct ugv_comms_state_s {
   TaskHandle_t task_handle;
 
   SemaphoreHandle_t   mutex;
-  uas_ugv_Location  location;
+  uas::ugv::Location  location;
-  uas_ugv_UGV_State ugv_state;
+  uas::ugv::UGV_State ugv_state;
   TickType_t          last_packet_tick;
   int32_t             last_packet_rssi;
   int8_t              last_packet_snr;
 } ugv_comms_state_t;
 
-ugv_comms_state_t ugv_comms_state;
+extern ugv_comms_state_t ugv_comms_state;
 
 void ugv_comms_init();