control/include/flatbuffers/SensorMessageBuilder.h

//
// Created by Johnathon Slightham on 2025-06-30.
//

#ifndef SENSORMESSAGEBUILDER_H
#define SENSORMESSAGEBUILDER_H

#include <string>
#include <variant>

#include "flatbuffers_generated/SensorMessage_generated.h"

namespace Flatbuffers {

struct target_angle {
  int16_t angle;
};

struct current_angle {
  int16_t angle;
};

struct current_text {
  std::string text;
};

typedef std::variant<target_angle, current_angle, current_text> sensor_value;

class SensorMessageBuilder {
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()};
    }
    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_;
};
} // namespace Flatbuffers

#endif // TOPOLOGYMESSAGEBUILDER_H