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Correctly send connection info to UI

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This commit is contained in:
Johnathon Slightham
2026-03-10 12:27:03 -04:00
parent 780e2ceae7
commit d400235cb9
1 changed files with 31 additions and 5 deletions
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36
src/libcontrol.cpp
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@@ -8,6 +8,7 @@
#include <shared_mutex>
#include <system_error>
#include <thread>
#include <unordered_set>
#include "flatbuffers_generated/SensorMessage_generated.h"
#include "spdlog/spdlog.h"
@@ -62,12 +63,37 @@ std::vector<Flatbuffers::ModuleConnectionInstance> RobotController::getConnectio
std::shared_lock module_lock(m_module_lock);
std::shared_lock conn_lock(m_connection_lock);
for (auto const &[_, value] : m_connection_map) {
for (const auto conn : value) {
if (m_id_to_module.contains(conn.from_module_id) &&
m_id_to_module.contains(conn.to_module_id)) {
out.push_back(conn);
for (auto const &[from_id, conns] : m_connection_map) {
for (const auto &conn : conns) {
if (!m_id_to_module.contains(conn.from_module_id) ||
!m_id_to_module.contains(conn.to_module_id)) {
continue;
}
if (!m_connection_map.contains(conn.to_module_id)) {
continue;
}
uint8_t to_socket = 0;
bool found_inverse = false;
for (const auto &reverse_conn : m_connection_map.at(conn.to_module_id)) {
if (reverse_conn.to_module_id == conn.from_module_id) {
to_socket = reverse_conn.from_socket;
found_inverse = true;
break;
}
}
if (!found_inverse) {
continue;
}
out.push_back(
Flatbuffers::ModuleConnectionInstance{.from_module_id = conn.from_module_id,
.to_module_id = conn.to_module_id,
.from_socket = conn.from_socket,
.to_socket = to_socket,
.orientation = conn.orientation});
}
}
return out;