From ee72d1a831630d36717d43686c9b8b993466f9fe Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Tue, 13 Feb 2024 17:13:01 -0800
Subject: [PATCH] Slightly redo Protobuf

---
 src/ntcore/NetworkTableInstance.cs            |  2 +-
 src/ntcore/ProtobufTopic.cs                   |  4 +-
 src/wpimath/Geometry/Pose2d.cs                |  2 +-
 src/wpimath/Geometry/Quaternion.cs            |  2 +-
 src/wpimath/Geometry/Rotation2d.cs            |  2 +-
 src/wpimath/Geometry/Rotation3d.cs            |  2 +-
 src/wpimath/Geometry/Translation2d.cs         |  2 +-
 src/wpimath/Geometry/Twist2d.cs               |  2 +-
 src/wpimath/Geometry/Twist3d.cs               |  2 +-
 src/wpiutil/Logging/DataLog.cs                |  2 +-
 src/wpiutil/Logging/ProtobufLogEntry.cs       |  4 +-
 .../Serialization/Protobuf/IProtobuf.cs       | 41 ++++++++++---------
 .../Protobuf/IProtobufSerializable.cs         |  4 +-
 .../Serialization/Protobuf/ProtobufBuffer.cs  | 12 +++---
 test/wpimath.test/GenericHelpers.cs           |  6 +--
 15 files changed, 46 insertions(+), 43 deletions(-)

diff --git a/src/ntcore/NetworkTableInstance.cs b/src/ntcore/NetworkTableInstance.cs
index e1772231..bbd7ea8e 100644
--- a/src/ntcore/NetworkTableInstance.cs
+++ b/src/ntcore/NetworkTableInstance.cs
@@ -646,7 +646,7 @@ public void AddSchema(IStructBase proto)
         AddSchemaImpl(proto, []);
     }
 
-    public void AddSchema(IProtobufBase proto)
+    public void AddSchema(IProtobuf proto)
     {
         proto.ForEachDescriptor(HasSchema, (typeString, schema) => AddSchema(typeString, "proto:FileDescriptorProto", schema));
     }
diff --git a/src/ntcore/ProtobufTopic.cs b/src/ntcore/ProtobufTopic.cs
index 7235e2a8..c2b91f93 100644
--- a/src/ntcore/ProtobufTopic.cs
+++ b/src/ntcore/ProtobufTopic.cs
@@ -9,7 +9,7 @@ namespace NetworkTables;
 
 public sealed class ProtobufTopic<T> : Topic, IEquatable<ProtobufTopic<T>?>, IEqualityOperators<ProtobufTopic<T>?, ProtobufTopic<T>?, bool> where T : IProtobufSerializable<T>
 {
-    public IProtobuf<T> Proto { get; } = T.Proto;
+    public IGenericProtobuf<T> Proto { get; } = T.ProtoGeneric;
 
     private ProtobufTopic(Topic topic) : base(topic.Instance, topic.Handle)
     {
@@ -57,7 +57,7 @@ public override bool Equals(object? obj)
     public bool Equals(ProtobufTopic<T>? other)
     {
         return other is not null &&
-               EqualityComparer<IProtobuf<T>>.Default.Equals(Proto, other.Proto);
+               EqualityComparer<IGenericProtobuf<T>>.Default.Equals(Proto, other.Proto);
     }
 
     public override int GetHashCode()
diff --git a/src/wpimath/Geometry/Pose2d.cs b/src/wpimath/Geometry/Pose2d.cs
index 4fe3d76f..9bd87a7a 100644
--- a/src/wpimath/Geometry/Pose2d.cs
+++ b/src/wpimath/Geometry/Pose2d.cs
@@ -71,7 +71,7 @@ public partial class Pose2dJsonContext : JsonSerializerContext
 {
     public static IStruct<Pose2d> Struct { get; } = new Pose2dStruct();
     public static IProtobuf<Pose2d, ProtobufPose2d> Proto { get; } = new Pose2dProto();
-    static IProtobuf<Pose2d> IProtobufSerializable<Pose2d>.Proto { get; } = Proto.UntypedProto;
+    static IGenericProtobuf<Pose2d> IProtobufSerializable<Pose2d>.ProtoGeneric => Proto;
 
     [JsonInclude]
     [JsonPropertyName("translation")]
diff --git a/src/wpimath/Geometry/Quaternion.cs b/src/wpimath/Geometry/Quaternion.cs
index 937f88fc..d2d552d3 100644
--- a/src/wpimath/Geometry/Quaternion.cs
+++ b/src/wpimath/Geometry/Quaternion.cs
@@ -78,7 +78,7 @@ public partial class QuaternionJsonContext : JsonSerializerContext
 {
     public static IStruct<Quaternion> Struct { get; } = new QuaternionStruct();
     public static IProtobuf<Quaternion, ProtobufQuaternion> Proto { get; } = new QuaternionProto();
-    static IProtobuf<Quaternion> IProtobufSerializable<Quaternion>.Proto => Proto.UntypedProto;
+    static IGenericProtobuf<Quaternion> IProtobufSerializable<Quaternion>.ProtoGeneric => Proto;
 
     [JsonInclude]
     public double W { get; init; }
diff --git a/src/wpimath/Geometry/Rotation2d.cs b/src/wpimath/Geometry/Rotation2d.cs
index 5aadf3e1..133fd81c 100644
--- a/src/wpimath/Geometry/Rotation2d.cs
+++ b/src/wpimath/Geometry/Rotation2d.cs
@@ -69,7 +69,7 @@ public partial class Rotation2dJsonContext : JsonSerializerContext
 {
     public static IStruct<Rotation2d> Struct { get; } = new Rotation2dStruct();
     public static IProtobuf<Rotation2d, ProtobufRotation2d> Proto { get; } = new Rotation2dProto();
-    static IProtobuf<Rotation2d> IProtobufSerializable<Rotation2d>.Proto => Proto.UntypedProto;
+    static IGenericProtobuf<Rotation2d> IProtobufSerializable<Rotation2d>.ProtoGeneric => Proto;
 
     public Rotation2d(Angle angle)
     {
diff --git a/src/wpimath/Geometry/Rotation3d.cs b/src/wpimath/Geometry/Rotation3d.cs
index 0c7a284f..b45743f7 100644
--- a/src/wpimath/Geometry/Rotation3d.cs
+++ b/src/wpimath/Geometry/Rotation3d.cs
@@ -73,7 +73,7 @@ public partial class Rotation3dJsonContext : JsonSerializerContext
 {
     public static IStruct<Rotation3d> Struct { get; } = new Rotation3dStruct();
     public static IProtobuf<Rotation3d, ProtobufRotation3d> Proto { get; } = new Rotation3dProto();
-    static IProtobuf<Rotation3d> IProtobufSerializable<Rotation3d>.Proto => Proto.UntypedProto;
+    static IGenericProtobuf<Rotation3d> IProtobufSerializable<Rotation3d>.ProtoGeneric => Proto;
 
     [JsonInclude]
     [JsonPropertyName("quaternion")]
diff --git a/src/wpimath/Geometry/Translation2d.cs b/src/wpimath/Geometry/Translation2d.cs
index 49f2b492..b9d5243d 100644
--- a/src/wpimath/Geometry/Translation2d.cs
+++ b/src/wpimath/Geometry/Translation2d.cs
@@ -72,7 +72,7 @@ public partial class Translation2dJsonContext : JsonSerializerContext
 {
     public static IStruct<Translation2d> Struct { get; } = new Translation2dStruct();
     public static IProtobuf<Translation2d, ProtobufTranslation2d> Proto { get; } = new Translation2dProto();
-    static IProtobuf<Translation2d> IProtobufSerializable<Translation2d>.Proto => Proto.UntypedProto;
+    static IGenericProtobuf<Translation2d> IProtobufSerializable<Translation2d>.ProtoGeneric => Proto;
 
     [JsonIgnore]
     public Length X { get; }
diff --git a/src/wpimath/Geometry/Twist2d.cs b/src/wpimath/Geometry/Twist2d.cs
index 55b260fc..eb2d0f92 100644
--- a/src/wpimath/Geometry/Twist2d.cs
+++ b/src/wpimath/Geometry/Twist2d.cs
@@ -72,7 +72,7 @@ public partial class Twist2dJsonContext : JsonSerializerContext
 {
     public static IStruct<Twist2d> Struct { get; } = new Twist2dStruct();
     public static IProtobuf<Twist2d, ProtobufTwist2d> Proto { get; } = new Twist2dProto();
-    static IProtobuf<Twist2d> IProtobufSerializable<Twist2d>.Proto => Proto.UntypedProto;
+    static IGenericProtobuf<Twist2d> IProtobufSerializable<Twist2d>.ProtoGeneric => Proto;
 
     [JsonIgnore]
     public Length Dx { get; init; }
diff --git a/src/wpimath/Geometry/Twist3d.cs b/src/wpimath/Geometry/Twist3d.cs
index d25ed20d..443d1ef8 100644
--- a/src/wpimath/Geometry/Twist3d.cs
+++ b/src/wpimath/Geometry/Twist3d.cs
@@ -84,7 +84,7 @@ public partial class Twist3dJsonContext : JsonSerializerContext
 {
     public static IStruct<Twist3d> Struct { get; } = new Twist3dStruct();
     public static IProtobuf<Twist3d, ProtobufTwist3d> Proto { get; } = new Twist3dProto();
-    static IProtobuf<Twist3d> IProtobufSerializable<Twist3d>.Proto => Proto.UntypedProto;
+    static IGenericProtobuf<Twist3d> IProtobufSerializable<Twist3d>.ProtoGeneric => Proto;
 
     [JsonIgnore]
     public Length Dx { get; init; }
diff --git a/src/wpiutil/Logging/DataLog.cs b/src/wpiutil/Logging/DataLog.cs
index 473b9584..fada7c0a 100644
--- a/src/wpiutil/Logging/DataLog.cs
+++ b/src/wpiutil/Logging/DataLog.cs
@@ -113,7 +113,7 @@ public void AddSchema(IStructBase value, long timestamp = 0)
         AddSchemaImpl(value, timestamp == 0 ? (long)TimestampNative.Now() : timestamp, []);
     }
 
-    public void AddSchema(IProtobufBase proto, long timestamp = 0)
+    public void AddSchema(IProtobuf proto, long timestamp = 0)
     {
         long actualTimestamp = timestamp == 0 ? (long)TimestampNative.Now() : timestamp;
         proto.ForEachDescriptor(HasSchema, (typeString, schema) =>
diff --git a/src/wpiutil/Logging/ProtobufLogEntry.cs b/src/wpiutil/Logging/ProtobufLogEntry.cs
index 96d0985b..cec5d7ad 100644
--- a/src/wpiutil/Logging/ProtobufLogEntry.cs
+++ b/src/wpiutil/Logging/ProtobufLogEntry.cs
@@ -7,14 +7,14 @@ public sealed class ProtobufLogEntry<T> : DataLogEntry where T : IProtobufSerial
     private readonly ProtobufBuffer<T> m_storage = new();
     private readonly object m_lockObject = new();
 
-    private ProtobufLogEntry(DataLog log, string name, IProtobufBase proto, string metadata = "", long timestamp = 0) : base(log, name, proto.TypeString, metadata, timestamp)
+    private ProtobufLogEntry(DataLog log, string name, IProtobuf proto, string metadata = "", long timestamp = 0) : base(log, name, proto.TypeString, metadata, timestamp)
     {
         log.AddSchema(proto, timestamp);
     }
 
     public ProtobufLogEntry<T> Create(DataLog log, string name, string metadata = "", long timestamp = 0)
     {
-        return new ProtobufLogEntry<T>(log, name, T.Proto, metadata, timestamp);
+        return new ProtobufLogEntry<T>(log, name, T.ProtoGeneric, metadata, timestamp);
     }
 
     public void Append(T value, long timestamp = 0)
diff --git a/src/wpiutil/Serialization/Protobuf/IProtobuf.cs b/src/wpiutil/Serialization/Protobuf/IProtobuf.cs
index f87a9ab9..1a959ab5 100644
--- a/src/wpiutil/Serialization/Protobuf/IProtobuf.cs
+++ b/src/wpiutil/Serialization/Protobuf/IProtobuf.cs
@@ -4,11 +4,11 @@
 
 namespace WPIUtil.Serialization.Protobuf;
 
-public interface IProtobufBase
+public interface IProtobuf
 {
     string TypeString => $"proto:{Descriptor.FullName}";
     MessageDescriptor Descriptor { get; }
-    IProtobufBase[] Nested => [];
+    IProtobuf[] Nested => [];
 
     void ForEachDescriptor(Func<string, bool> exists, Action<string, byte[]> fn)
     {
@@ -30,35 +30,38 @@ private static void ForEachDescriptorImpl(FileDescriptor desc, Func<string, bool
     }
 }
 
-public interface IProtobuf<T> : IProtobufBase
+public interface IGenericProtobuf<T> : IProtobuf
 {
-    IMessage CreateMessage();
+    IMessage GenericCreateMessage();
 
-    T Unpack(IMessage msg);
+    T GenericUnpack(IMessage msg);
 
-    void Pack(IMessage msg, T value);
+    void GenericPack(IMessage msg, T value);
 
-    void UnpackInto(ref T value, IMessage msg);
+    void GenericUnpackInto(ref T value, IMessage msg);
 }
 
-public interface IProtobuf<T, MessageType> : IProtobufBase where MessageType : IMessage<MessageType>
+public interface IProtobuf<T, MessageType> : IGenericProtobuf<T> where MessageType : IMessage<MessageType>
 {
-    internal class ProtobufWrapper(IProtobuf<T, MessageType> proto) : IProtobuf<T>
+    IMessage IGenericProtobuf<T>.GenericCreateMessage()
     {
-        private readonly IProtobuf<T, MessageType> m_proto = proto;
-
-        public MessageDescriptor Descriptor => m_proto.Descriptor;
-
-        public IMessage CreateMessage() => m_proto.CreateMessage();
-
-        public void Pack(IMessage msg, T value) => m_proto.Pack((MessageType)msg, value);
+        return CreateMessage();
+    }
 
-        public T Unpack(IMessage msg) => m_proto.Unpack((MessageType)msg);
+    T IGenericProtobuf<T>.GenericUnpack(IMessage msg)
+    {
+        return Unpack((MessageType)msg);
+    }
 
-        public void UnpackInto(ref T value, IMessage msg) => m_proto.UnpackInto(ref value, (MessageType)msg);
+    void IGenericProtobuf<T>.GenericPack(IMessage msg, T value)
+    {
+        Pack((MessageType)msg, value);
     }
 
-    public IProtobuf<T> UntypedProto => new ProtobufWrapper(this);
+    void IGenericProtobuf<T>.GenericUnpackInto(ref T value, IMessage msg)
+    {
+        UnpackInto(ref value, (MessageType)msg);
+    }
 
     MessageType CreateMessage();
 
diff --git a/src/wpiutil/Serialization/Protobuf/IProtobufSerializable.cs b/src/wpiutil/Serialization/Protobuf/IProtobufSerializable.cs
index febbe802..71167d08 100644
--- a/src/wpiutil/Serialization/Protobuf/IProtobufSerializable.cs
+++ b/src/wpiutil/Serialization/Protobuf/IProtobufSerializable.cs
@@ -4,10 +4,10 @@ namespace WPIUtil.Serialization.Protobuf;
 
 public interface IProtobufSerializable<T> : IWPISerializable<T>
 {
-    public static abstract IProtobuf<T> Proto { get; }
+    public static abstract IGenericProtobuf<T> ProtoGeneric { get; }
 }
 
 public interface IProtobufSerializable<T, TProto> : IProtobufSerializable<T> where TProto : IMessage<TProto>
 {
-    public static new abstract IProtobuf<T, TProto> Proto { get; }
+    public static abstract IProtobuf<T, TProto> Proto { get; }
 }
diff --git a/src/wpiutil/Serialization/Protobuf/ProtobufBuffer.cs b/src/wpiutil/Serialization/Protobuf/ProtobufBuffer.cs
index 034815e1..3bbe73b4 100644
--- a/src/wpiutil/Serialization/Protobuf/ProtobufBuffer.cs
+++ b/src/wpiutil/Serialization/Protobuf/ProtobufBuffer.cs
@@ -7,17 +7,17 @@ public struct ProtobufBuffer<T> where T : IProtobufSerializable<T>
 {
     public ProtobufBuffer()
     {
-        Proto = T.Proto;
-        m_msg = Proto.CreateMessage();
+        Proto = T.ProtoGeneric;
+        m_msg = Proto.GenericCreateMessage();
     }
 
-    public IProtobuf<T> Proto { get; }
+    public IGenericProtobuf<T> Proto { get; }
 
     public readonly string TypeString => Proto.TypeString;
 
     public ReadOnlySpan<byte> Write(T value)
     {
-        Proto.Pack(m_msg, value);
+        Proto.GenericPack(m_msg, value);
         int size = m_msg.CalculateSize();
         if (size > m_buf.Length)
         {
@@ -30,13 +30,13 @@ public ReadOnlySpan<byte> Write(T value)
     public readonly T Read(ReadOnlySpan<byte> buffer)
     {
         m_msg.MergeFrom(buffer);
-        return Proto.Unpack(m_msg);
+        return Proto.GenericUnpack(m_msg);
     }
 
     public readonly void ReadInto(ref T output, ReadOnlySpan<byte> buffer)
     {
         m_msg.MergeFrom(buffer);
-        Proto.UnpackInto(ref output, m_msg);
+        Proto.GenericUnpackInto(ref output, m_msg);
     }
 
     private readonly IMessage m_msg;
diff --git a/test/wpimath.test/GenericHelpers.cs b/test/wpimath.test/GenericHelpers.cs
index aba49ef2..6ee0d389 100644
--- a/test/wpimath.test/GenericHelpers.cs
+++ b/test/wpimath.test/GenericHelpers.cs
@@ -16,9 +16,9 @@ public static T StructRoundTrip<T>(T start) where T : IStructSerializable<T>
 
     public static T ProtoRoundTrip<T>(T start) where T : IProtobufSerializable<T>
     {
-        var proto = T.Proto.CreateMessage();
-        T.Proto.Pack(proto, start);
-        return T.Proto.Unpack(proto);
+        var proto = T.ProtoGeneric.GenericCreateMessage();
+        T.ProtoGeneric.GenericPack(proto, start);
+        return T.ProtoGeneric.GenericUnpack(proto);
     }
 
     public static T ProtoTypedRoundTrip<T, U>(T start) where T : IProtobufSerializable<T, U> where U : IMessage<U>