botchain/control
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/control.git synced 2026-03-10 00:32:26 +01:00
Code Issues Packages Projects Releases Wiki Activity

Oled implementation (#1)

Browse Source
This commit is contained in:
Johnathon Slightham
2026-02-07 15:05:45 -05:00
committed by GitHub
parent 048e39016a
commit 33c3ebad53
46 changed files with 1790 additions and 1260 deletions
Download Patch File Download Diff File Expand all files Collapse all files

63
include/flatbuffers/SensorMessageBuilder.h
View File

@@ -5,6 +5,7 @@
#ifndef SENSORMESSAGEBUILDER_H
#define SENSORMESSAGEBUILDER_H
#include <string>
#include <variant>
#include "flatbuffers_generated/SensorMessage_generated.h"
@@ -12,42 +13,52 @@
namespace Flatbuffers {
struct target_angle {
int16_t angle;
int16_t angle;
};
struct current_angle {
int16_t angle;
int16_t angle;
};
typedef std::variant<target_angle, current_angle> sensor_value;
struct current_text {
std::string text;
};
typedef std::variant<target_angle, current_angle, current_text> sensor_value;
class SensorMessageBuilder {
public:
SensorMessageBuilder() : builder_(1024) {
public:
SensorMessageBuilder() : builder_(1024) {}
static const Messaging::SensorMessage *
parse_sensor_message(const std::uint8_t *buffer);
template <typename T>
static std::optional<sensor_value>
build_sensor_value(Messaging::SensorValue type, T value) {
switch (type) {
case Messaging::SensorValue_TargetAngle: {
const Messaging::TargetAngle *target =
static_cast<const Messaging::TargetAngle *>(value);
return target_angle{target->value()};
}
static const Messaging::SensorMessage *parse_sensor_message(const std::uint8_t *buffer);
template <typename T>
static std::optional<sensor_value> build_sensor_value(Messaging::SensorValue type, T value) {
switch (type) {
case Messaging::SensorValue_TargetAngle: {
const Messaging::TargetAngle *target =
static_cast<const Messaging::TargetAngle *>(value);
return target_angle{target->value()};
}
case Messaging::SensorValue_CurrentAngle: {
const Messaging::CurrentAngle *current =
static_cast<const Messaging::CurrentAngle *>(value);
return current_angle{current->value()};
}
default:
return std::nullopt;
}
case Messaging::SensorValue_CurrentAngle: {
const Messaging::CurrentAngle *current =
static_cast<const Messaging::CurrentAngle *>(value);
return current_angle{current->value()};
}
case Messaging::SensorValue_CurrentText: {
const Messaging::CurrentText *current =
static_cast<const Messaging::CurrentText *>(value);
return current_text{current->value()->str()};
}
default:
return std::nullopt;
}
}
private:
flatbuffers::FlatBufferBuilder builder_;
private:
flatbuffers::FlatBufferBuilder builder_;
};
} // namespace Flatbuffers