flatbuffer wrapper for movement sets

components/flatbuffers/MovementSetBuilder.cpp

@@ -0,0 +1,45 @@
+// Justin Chow created file >:)
+
+#include "MovementSetBuilder.h"
+#include "SerializedMessage.h"
+
+#ifdef MOVEMENTSETBUILDER
+
+namespace Flatbuffers {
+    SerializedMessage MovementSetBuilder::build_movement_set(const std::vector<flatbuffers::Offset<Movement::MovementEntry>>& set){
+
+        builder_.Clear();
+
+        const auto set_vector = builder_.CreateVector(set);
+
+        const auto message = Movement::CreateMovementSet(
+            builder_,
+            static_cast<uint8_t>(set.size()),
+            set_vector
+        );
+
+        builder_.Finish(message);
+
+        return {builder_.GetBufferPointer(), builder_.GetSize()};
+    }
+
+    flatbuffers::Offset<Movement::MovementEntry> MovementSetBuilder::build_movement_entry(uint16_t board_id, uint8_t module_type, uint16_t value_action,
+            const Movement::ConditionBlob& condition, uint8_t ack, uint16_t ack_ttl_ms, uint16_t post_delay_ms){
+        return Movement::CreateMovementEntry(
+            builder_,
+            board_id,
+            module_type,
+            value_action,
+            &condition,     
+            ack,
+            ack_ttl_ms,
+            post_delay_ms
+        );
+    }
+
+    Movement::ConditionBlob MovementSetBuilder::build_condition_blob(uint16_t value, uint8_t cond, uint8_t module_type, uint8_t in_use){
+        return Movement::ConditionBlob(value, cond, module_type, in_use);
+    }
+}
+
+#endif //MOVEMENTSETBUILDER

components/flatbuffers/include/MovementSetBuilder.h

@@ -0,0 +1,29 @@
+// Justin Chow created file >:)
+
+#ifndef MOVEMENTSETBUILDER
+#define MOVEMENTSETBUILDER
+
+#define MAX_MOVEMENTS_IN_SET 255 //max number movements in `MovementEntry.num_movements` can hold
+
+#include <vector>
+
+#include "SerializedMessage.h"
+#include "flatbuffers_generated/Movement_generated.h"
+#include "flatbuffers/flatbuffers.h"
+
+namespace Flatbuffers {
+    class MovementSetBuilder {
+    public:
+        MovementSetBuilder() : builder_(MAX_MOVEMENTS_IN_SET*sizeof(Movement::MovementEntry)) {}
+
+        SerializedMessage build_movement_set(const std::vector<flatbuffers::Offset<Movement::MovementEntry>>& set);
+        flatbuffers::Offset<Movement::MovementEntry> build_movement_entry(uint16_t board_id, uint8_t module_type, uint16_t value_action,
+            const Movement::ConditionBlob& condition, uint8_t ack, uint16_t ack_ttl_ms, uint16_t post_delay_ms);
+        Movement::ConditionBlob build_condition_blob(uint16_t value, uint8_t cond, uint8_t module_type, uint8_t in_use);
+
+    private:
+        flatbuffers::FlatBufferBuilder builder_;
+    };
+}
+
+#endif //MOVEMENTSETBUILDER

components/flatbuffers/include/flatbuffers_generated/Movement_generated.h

@@ -13,7 +13,7 @@ static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
               FLATBUFFERS_VERSION_REVISION == 19,
              "Non-compatible flatbuffers version included");
 
-namespace movement {
+namespace Movement {
 
 struct ConditionBlob;
 
@@ -83,8 +83,8 @@ struct MovementEntry FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
   uint16_t value_action() const {
     return GetField<uint16_t>(VT_VALUE_ACTION, 0);
   }
-  const movement::ConditionBlob *condition() const {
+  const Movement::ConditionBlob *condition() const {
-    return GetStruct<const movement::ConditionBlob *>(VT_CONDITION);
+    return GetStruct<const Movement::ConditionBlob *>(VT_CONDITION);
   }
   uint8_t ack() const {
     return GetField<uint8_t>(VT_ACK, 0);
@@ -101,7 +101,7 @@ struct MovementEntry FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
            VerifyField<uint16_t>(verifier, VT_BOARD_ID, 2) &&
            VerifyField<uint8_t>(verifier, VT_MODULE_TYPE, 1) &&
            VerifyField<uint16_t>(verifier, VT_VALUE_ACTION, 2) &&
-           VerifyField<movement::ConditionBlob>(verifier, VT_CONDITION, 2) &&
+           VerifyField<Movement::ConditionBlob>(verifier, VT_CONDITION, 2) &&
            VerifyField<uint8_t>(verifier, VT_ACK, 1) &&
            VerifyField<uint16_t>(verifier, VT_ACK_TTL_MS, 2) &&
            VerifyField<uint16_t>(verifier, VT_POST_DELAY_MS, 2) &&
@@ -122,7 +122,7 @@ struct MovementEntryBuilder {
   void add_value_action(uint16_t value_action) {
     fbb_.AddElement<uint16_t>(MovementEntry::VT_VALUE_ACTION, value_action, 0);
   }
-  void add_condition(const movement::ConditionBlob *condition) {
+  void add_condition(const Movement::ConditionBlob *condition) {
     fbb_.AddStruct(MovementEntry::VT_CONDITION, condition);
   }
   void add_ack(uint8_t ack) {
@@ -150,7 +150,7 @@ inline ::flatbuffers::Offset<MovementEntry> CreateMovementEntry(
     uint16_t board_id = 0,
     uint8_t module_type = 0,
     uint16_t value_action = 0,
-    const movement::ConditionBlob *condition = nullptr,
+    const Movement::ConditionBlob *condition = nullptr,
     uint8_t ack = 0,
     uint16_t ack_ttl_ms = 0,
     uint16_t post_delay_ms = 0) {
@@ -174,8 +174,8 @@ struct MovementSet FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
   uint8_t num_movements() const {
     return GetField<uint8_t>(VT_NUM_MOVEMENTS, 0);
   }
-  const ::flatbuffers::Vector<::flatbuffers::Offset<movement::MovementEntry>> *movements() const {
+  const ::flatbuffers::Vector<::flatbuffers::Offset<Movement::MovementEntry>> *movements() const {
-    return GetPointer<const ::flatbuffers::Vector<::flatbuffers::Offset<movement::MovementEntry>> *>(VT_MOVEMENTS);
+    return GetPointer<const ::flatbuffers::Vector<::flatbuffers::Offset<Movement::MovementEntry>> *>(VT_MOVEMENTS);
   }
   template <bool B = false>
   bool Verify(::flatbuffers::VerifierTemplate<B> &verifier) const {
@@ -195,7 +195,7 @@ struct MovementSetBuilder {
   void add_num_movements(uint8_t num_movements) {
     fbb_.AddElement<uint8_t>(MovementSet::VT_NUM_MOVEMENTS, num_movements, 0);
   }
-  void add_movements(::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<movement::MovementEntry>>> movements) {
+  void add_movements(::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<Movement::MovementEntry>>> movements) {
     fbb_.AddOffset(MovementSet::VT_MOVEMENTS, movements);
   }
   explicit MovementSetBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
@@ -212,7 +212,7 @@ struct MovementSetBuilder {
 inline ::flatbuffers::Offset<MovementSet> CreateMovementSet(
     ::flatbuffers::FlatBufferBuilder &_fbb,
     uint8_t num_movements = 0,
-    ::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<movement::MovementEntry>>> movements = 0) {
+    ::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<Movement::MovementEntry>>> movements = 0) {
   MovementSetBuilder builder_(_fbb);
   builder_.add_movements(movements);
   builder_.add_num_movements(num_movements);
@@ -222,46 +222,46 @@ inline ::flatbuffers::Offset<MovementSet> CreateMovementSet(
 inline ::flatbuffers::Offset<MovementSet> CreateMovementSetDirect(
     ::flatbuffers::FlatBufferBuilder &_fbb,
     uint8_t num_movements = 0,
-    const std::vector<::flatbuffers::Offset<movement::MovementEntry>> *movements = nullptr) {
+    const std::vector<::flatbuffers::Offset<Movement::MovementEntry>> *movements = nullptr) {
-  auto movements__ = movements ? _fbb.CreateVector<::flatbuffers::Offset<movement::MovementEntry>>(*movements) : 0;
+  auto movements__ = movements ? _fbb.CreateVector<::flatbuffers::Offset<Movement::MovementEntry>>(*movements) : 0;
-  return movement::CreateMovementSet(
+  return Movement::CreateMovementSet(
       _fbb,
       num_movements,
       movements__);
 }
 
-inline const movement::MovementSet *GetMovementSet(const void *buf) {
+inline const Movement::MovementSet *GetMovementSet(const void *buf) {
-  return ::flatbuffers::GetRoot<movement::MovementSet>(buf);
+  return ::flatbuffers::GetRoot<Movement::MovementSet>(buf);
 }
 
-inline const movement::MovementSet *GetSizePrefixedMovementSet(const void *buf) {
+inline const Movement::MovementSet *GetSizePrefixedMovementSet(const void *buf) {
-  return ::flatbuffers::GetSizePrefixedRoot<movement::MovementSet>(buf);
+  return ::flatbuffers::GetSizePrefixedRoot<Movement::MovementSet>(buf);
 }
 
 template <bool B = false>
 inline bool VerifyMovementSetBuffer(
     ::flatbuffers::VerifierTemplate<B> &verifier) {
-  return verifier.template VerifyBuffer<movement::MovementSet>(nullptr);
+  return verifier.template VerifyBuffer<Movement::MovementSet>(nullptr);
 }
 
 template <bool B = false>
 inline bool VerifySizePrefixedMovementSetBuffer(
     ::flatbuffers::VerifierTemplate<B> &verifier) {
-  return verifier.template VerifySizePrefixedBuffer<movement::MovementSet>(nullptr);
+  return verifier.template VerifySizePrefixedBuffer<Movement::MovementSet>(nullptr);
 }
 
 inline void FinishMovementSetBuffer(
     ::flatbuffers::FlatBufferBuilder &fbb,
-    ::flatbuffers::Offset<movement::MovementSet> root) {
+    ::flatbuffers::Offset<Movement::MovementSet> root) {
   fbb.Finish(root);
 }
 
 inline void FinishSizePrefixedMovementSetBuffer(
     ::flatbuffers::FlatBufferBuilder &fbb,
-    ::flatbuffers::Offset<movement::MovementSet> root) {
+    ::flatbuffers::Offset<Movement::MovementSet> root) {
   fbb.FinishSizePrefixed(root);
 }
 
-}  // namespace movement
+}  // namespace Movement
 
 #endif  // FLATBUFFERS_GENERATED_MOVEMENT_MOVEMENT_H_

components/flatbuffers/include/flatbuffers_generated/Topology_generated.h

@@ -13,7 +13,7 @@ static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
               FLATBUFFERS_VERSION_REVISION == 19,
              "Non-compatible flatbuffers version included");
 
-namespace topology {
+namespace Topology {
 
 struct ChannelBoardConn;
 
@@ -64,8 +64,8 @@ struct NeighbourBlob FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
   uint8_t num_connections() const {
     return GetField<uint8_t>(VT_NUM_CONNECTIONS, 0);
   }
-  const ::flatbuffers::Vector<const topology::ChannelBoardConn *> *neighbour_connections() const {
+  const ::flatbuffers::Vector<const Topology::ChannelBoardConn *> *neighbour_connections() const {
-    return GetPointer<const ::flatbuffers::Vector<const topology::ChannelBoardConn *> *>(VT_NEIGHBOUR_CONNECTIONS);
+    return GetPointer<const ::flatbuffers::Vector<const Topology::ChannelBoardConn *> *>(VT_NEIGHBOUR_CONNECTIONS);
   }
   template <bool B = false>
   bool Verify(::flatbuffers::VerifierTemplate<B> &verifier) const {
@@ -88,7 +88,7 @@ struct NeighbourBlobBuilder {
   void add_num_connections(uint8_t num_connections) {
     fbb_.AddElement<uint8_t>(NeighbourBlob::VT_NUM_CONNECTIONS, num_connections, 0);
   }
-  void add_neighbour_connections(::flatbuffers::Offset<::flatbuffers::Vector<const topology::ChannelBoardConn *>> neighbour_connections) {
+  void add_neighbour_connections(::flatbuffers::Offset<::flatbuffers::Vector<const Topology::ChannelBoardConn *>> neighbour_connections) {
     fbb_.AddOffset(NeighbourBlob::VT_NEIGHBOUR_CONNECTIONS, neighbour_connections);
   }
   explicit NeighbourBlobBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
@@ -106,7 +106,7 @@ inline ::flatbuffers::Offset<NeighbourBlob> CreateNeighbourBlob(
     ::flatbuffers::FlatBufferBuilder &_fbb,
     uint16_t curr_board_id = 0,
     uint8_t num_connections = 0,
-    ::flatbuffers::Offset<::flatbuffers::Vector<const topology::ChannelBoardConn *>> neighbour_connections = 0) {
+    ::flatbuffers::Offset<::flatbuffers::Vector<const Topology::ChannelBoardConn *>> neighbour_connections = 0) {
   NeighbourBlobBuilder builder_(_fbb);
   builder_.add_neighbour_connections(neighbour_connections);
   builder_.add_curr_board_id(curr_board_id);
@@ -118,9 +118,9 @@ inline ::flatbuffers::Offset<NeighbourBlob> CreateNeighbourBlobDirect(
     ::flatbuffers::FlatBufferBuilder &_fbb,
     uint16_t curr_board_id = 0,
     uint8_t num_connections = 0,
-    const std::vector<topology::ChannelBoardConn> *neighbour_connections = nullptr) {
+    const std::vector<Topology::ChannelBoardConn> *neighbour_connections = nullptr) {
-  auto neighbour_connections__ = neighbour_connections ? _fbb.CreateVectorOfStructs<topology::ChannelBoardConn>(*neighbour_connections) : 0;
+  auto neighbour_connections__ = neighbour_connections ? _fbb.CreateVectorOfStructs<Topology::ChannelBoardConn>(*neighbour_connections) : 0;
-  return topology::CreateNeighbourBlob(
+  return Topology::CreateNeighbourBlob(
       _fbb,
       curr_board_id,
       num_connections,
@@ -136,8 +136,8 @@ struct Topology FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
   uint16_t num_boards() const {
     return GetField<uint16_t>(VT_NUM_BOARDS, 0);
   }
-  const ::flatbuffers::Vector<::flatbuffers::Offset<topology::NeighbourBlob>> *boards() const {
+  const ::flatbuffers::Vector<::flatbuffers::Offset<Topology::NeighbourBlob>> *boards() const {
-    return GetPointer<const ::flatbuffers::Vector<::flatbuffers::Offset<topology::NeighbourBlob>> *>(VT_BOARDS);
+    return GetPointer<const ::flatbuffers::Vector<::flatbuffers::Offset<Topology::NeighbourBlob>> *>(VT_BOARDS);
   }
   template <bool B = false>
   bool Verify(::flatbuffers::VerifierTemplate<B> &verifier) const {
@@ -157,7 +157,7 @@ struct TopologyBuilder {
   void add_num_boards(uint16_t num_boards) {
     fbb_.AddElement<uint16_t>(Topology::VT_NUM_BOARDS, num_boards, 0);
   }
-  void add_boards(::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<topology::NeighbourBlob>>> boards) {
+  void add_boards(::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<Topology::NeighbourBlob>>> boards) {
     fbb_.AddOffset(Topology::VT_BOARDS, boards);
   }
   explicit TopologyBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
@@ -174,7 +174,7 @@ struct TopologyBuilder {
 inline ::flatbuffers::Offset<Topology> CreateTopology(
     ::flatbuffers::FlatBufferBuilder &_fbb,
     uint16_t num_boards = 0,
-    ::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<topology::NeighbourBlob>>> boards = 0) {
+    ::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<Topology::NeighbourBlob>>> boards = 0) {
   TopologyBuilder builder_(_fbb);
   builder_.add_boards(boards);
   builder_.add_num_boards(num_boards);
@@ -184,46 +184,46 @@ inline ::flatbuffers::Offset<Topology> CreateTopology(
 inline ::flatbuffers::Offset<Topology> CreateTopologyDirect(
     ::flatbuffers::FlatBufferBuilder &_fbb,
     uint16_t num_boards = 0,
-    const std::vector<::flatbuffers::Offset<topology::NeighbourBlob>> *boards = nullptr) {
+    const std::vector<::flatbuffers::Offset<Topology::NeighbourBlob>> *boards = nullptr) {
-  auto boards__ = boards ? _fbb.CreateVector<::flatbuffers::Offset<topology::NeighbourBlob>>(*boards) : 0;
+  auto boards__ = boards ? _fbb.CreateVector<::flatbuffers::Offset<Topology::NeighbourBlob>>(*boards) : 0;
-  return topology::CreateTopology(
+  return Topology::CreateTopology(
       _fbb,
       num_boards,
       boards__);
 }
 
-inline const topology::Topology *GetTopology(const void *buf) {
+inline const Topology::Topology *GetTopology(const void *buf) {
-  return ::flatbuffers::GetRoot<topology::Topology>(buf);
+  return ::flatbuffers::GetRoot<Topology::Topology>(buf);
 }
 
-inline const topology::Topology *GetSizePrefixedTopology(const void *buf) {
+inline const Topology::Topology *GetSizePrefixedTopology(const void *buf) {
-  return ::flatbuffers::GetSizePrefixedRoot<topology::Topology>(buf);
+  return ::flatbuffers::GetSizePrefixedRoot<Topology::Topology>(buf);
 }
 
 template <bool B = false>
 inline bool VerifyTopologyBuffer(
     ::flatbuffers::VerifierTemplate<B> &verifier) {
-  return verifier.template VerifyBuffer<topology::Topology>(nullptr);
+  return verifier.template VerifyBuffer<Topology::Topology>(nullptr);
 }
 
 template <bool B = false>
 inline bool VerifySizePrefixedTopologyBuffer(
     ::flatbuffers::VerifierTemplate<B> &verifier) {
-  return verifier.template VerifySizePrefixedBuffer<topology::Topology>(nullptr);
+  return verifier.template VerifySizePrefixedBuffer<Topology::Topology>(nullptr);
 }
 
 inline void FinishTopologyBuffer(
     ::flatbuffers::FlatBufferBuilder &fbb,
-    ::flatbuffers::Offset<topology::Topology> root) {
+    ::flatbuffers::Offset<Topology::Topology> root) {
   fbb.Finish(root);
 }
 
 inline void FinishSizePrefixedTopologyBuffer(
     ::flatbuffers::FlatBufferBuilder &fbb,
-    ::flatbuffers::Offset<topology::Topology> root) {
+    ::flatbuffers::Offset<Topology::Topology> root) {
   fbb.FinishSizePrefixed(root);
 }
 
-}  // namespace topology
+}  // namespace Topology
 
 #endif  // FLATBUFFERS_GENERATED_TOPOLOGY_TOPOLOGY_H_

components/movements/include/MovementSetManager.h

@@ -21,7 +21,7 @@ class MovementSetManager {
 
     private:
         std::unique_ptr<TopologyManager> topology_manager;
-        std::vector<struct MovementEntry> movements;
+        // std::vector<struct MovementEntry> movements;
         nvs_handle_t handle;
 };