Prepare files for public release

src/lib_c_control.cpp

@@ -0,0 +1,102 @@
+#include "lib_c_control.h"
+#include "flatbuffers/AngleControlMessageBuilder.h"
+#include "flatbuffers/RobotConfigurationBuilder.h"
+#include "libcontrol.h"
+#include "sentry.h"
+
+#undef min
+#undef max
+
+#define ACTUATOR_CONTROL_TAG 5
+#define TOPOLOGY_CMD_TAG 6
+#define MAX_RMT_CHANNELS 4
+
+extern "C" {
+const auto robot_controller = std::make_unique<RobotController>();
+
+const auto acm_builder = std::make_unique<Flatbuffers::AngleControlMessageBuilder>();
+
+const auto robot_configuration_builder = std::make_unique<Flatbuffers::RobotConfigurationBuilder>();
+
+LIB_API void init() {
+    spdlog::info("[c_control] Initializing");
+    robot_controller->fetchDirectlyConnectedModules(false);
+}
+
+LIB_API void cleanup() {
+    spdlog::info("[c_control] Cleanup");
+}
+
+LIB_API int send_angle_control(int module_id, int angle) {
+    if (const auto maybe_module = robot_controller->getModule(module_id)) {
+        const auto module = (*maybe_module).lock();
+        module->actuate(angle);
+    }
+    return 0;
+}
+
+LIB_API char *get_configuration(int *size_out) {
+    std::vector<Flatbuffers::ModuleInstance> modules_vec{};
+    std::vector<Flatbuffers::ModuleConnectionInstance> connections_vec{};
+
+    for (const auto &module : robot_controller->getModuleList()) {
+        modules_vec.emplace_back(module);
+    }
+
+    for (const auto &connection : robot_controller->getConnections()) {
+        connections_vec.emplace_back(connection);
+    }
+
+    const auto [data, size] =
+        robot_configuration_builder->build_robot_configuration(modules_vec, connections_vec);
+    *size_out = size;
+    return reinterpret_cast<char *>(data);
+}
+
+LIB_API bool control_sentry_init(const char *dsn, const char *environment, const char *release) {
+    sentry_options_t *options = sentry_options_new();
+    sentry_options_set_dsn(options, dsn);
+    sentry_options_set_environment(options, environment);
+    sentry_options_set_release(options, release);
+    sentry_options_set_auto_session_tracking(options, 1);
+
+    sentry_init(options);
+    return true;
+}
+
+LIB_API void control_sentry_shutdown(void) {
+    sentry_close();
+}
+
+LIB_API void control_sentry_set_app_info(const char *app_name, const char *app_version,
+                                         const char *build_number) {
+    sentry_value_t app = sentry_value_new_object();
+
+    if (app_name && *app_name) {
+        sentry_value_set_by_key(app, "name", sentry_value_new_string(app_name));
+    }
+
+    if (app_version && *app_version) {
+        sentry_value_set_by_key(app, "version", sentry_value_new_string(app_version));
+    }
+
+    if (build_number && *build_number) {
+        sentry_value_set_by_key(app, "build", sentry_value_new_string(build_number));
+    }
+
+    sentry_set_context("app", app);
+
+    if (app_version && *app_version) {
+        if (build_number && *build_number) {
+            char release[256];
+            snprintf(release, sizeof(release), "%s@%s+%s", app_name && *app_name ? app_name : "app",
+                     app_version, build_number);
+        } else {
+            // Example: mygame@1.2.3
+            char release[256];
+            snprintf(release, sizeof(release), "%s@%s", app_name && *app_name ? app_name : "app",
+                     app_version);
+        }
+    }
+}
+}