Servo control

components/constants/include/constants/module.h

@@ -9,8 +9,10 @@
 
 #include "flatbuffers_generated/RobotModule_generated.h"
 
-inline std::unordered_map<int, int> MODULE_TO_NUM_CHANNELS_MAP {{ModuleType_SPLITTER, 4}, {ModuleType_SERVO_1, 2}, {ModuleType_DC_MOTOR, 1}};
+inline std::unordered_map<int, int> MODULE_TO_NUM_CHANNELS_MAP {{ModuleType_SPLITTER, 2}, {ModuleType_SERVO_1, 2}, {ModuleType_DC_MOTOR, 1}};
 
 #define PC_ADDR 0
 
+#define SERVO_GPIO 18
+
 #endif //MODULE_H

components/flatbuffers/AngleControlMessageBuilder.cpp

@@ -0,0 +1,11 @@
+//
+// Created by Johnathon Slightham on 2025-06-30.
+//
+
+#include "AngleControlMessageBuilder.h"
+
+namespace Flatbuffers {
+    const Messaging::AngleControlMessage* AngleControlMessageBuilder::parse_angle_control_message(const uint8_t* buffer) {
+        return flatbuffers::GetRoot<Messaging::AngleControlMessage>(buffer);
+    }
+}

components/flatbuffers/CMakeLists.txt

@@ -1,2 +1,2 @@
-idf_component_register(SRCS "MPIMessageBuilder.cpp"
+idf_component_register(SRCS "MPIMessageBuilder.cpp" "AngleControlMessageBuilder.cpp"
         INCLUDE_DIRS "include")

components/flatbuffers/include/AngleControlMessageBuilder.h

@@ -0,0 +1,22 @@
+//
+// Created by Johnathon Slightham on 2025-06-30.
+//
+
+#ifndef ANGLECONTROLMESSAGEBUILDER_H_
+#define ANGLECONTROLMESSAGEBUILDER_H_
+
+#include <string>
+#include <vector>
+
+#include "SerializedMessage.h"
+#include "flatbuffers_generated/AngleControlMessage_generated.h"
+#include "flatbuffers/flatbuffers.h"
+
+namespace Flatbuffers {
+    class AngleControlMessageBuilder {
+    public:
+        static const Messaging::AngleControlMessage* parse_angle_control_message(const uint8_t* buffer);
+    };
+}
+
+#endif

components/flatbuffers/include/flatbuffers_generated/AngleControlMessage_generated.h

@@ -0,0 +1,94 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+
+#ifndef FLATBUFFERS_GENERATED_ANGLECONTROLMESSAGE_MESSAGING_H_
+#define FLATBUFFERS_GENERATED_ANGLECONTROLMESSAGE_MESSAGING_H_
+
+#include "flatbuffers/flatbuffers.h"
+
+// Ensure the included flatbuffers.h is the same version as when this file was
+// generated, otherwise it may not be compatible.
+//static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
+              //FLATBUFFERS_VERSION_MINOR == 2 &&
+              //FLATBUFFERS_VERSION_REVISION == 10,
+             //"Non-compatible flatbuffers version included");
+
+namespace Messaging {
+
+struct AngleControlMessage;
+struct AngleControlMessageBuilder;
+
+struct AngleControlMessage FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
+  typedef AngleControlMessageBuilder Builder;
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_ANGLE = 4
+  };
+  int16_t angle() const {
+    return GetField<int16_t>(VT_ANGLE, 0);
+  }
+  bool Verify(::flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyField<int16_t>(verifier, VT_ANGLE, 2) &&
+           verifier.EndTable();
+  }
+};
+
+struct AngleControlMessageBuilder {
+  typedef AngleControlMessage Table;
+  ::flatbuffers::FlatBufferBuilder &fbb_;
+  ::flatbuffers::uoffset_t start_;
+  void add_angle(int16_t angle) {
+    fbb_.AddElement<int16_t>(AngleControlMessage::VT_ANGLE, angle, 0);
+  }
+  explicit AngleControlMessageBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  ::flatbuffers::Offset<AngleControlMessage> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = ::flatbuffers::Offset<AngleControlMessage>(end);
+    return o;
+  }
+};
+
+inline ::flatbuffers::Offset<AngleControlMessage> CreateAngleControlMessage(
+    ::flatbuffers::FlatBufferBuilder &_fbb,
+    int16_t angle = 0) {
+  AngleControlMessageBuilder builder_(_fbb);
+  builder_.add_angle(angle);
+  return builder_.Finish();
+}
+
+inline const Messaging::AngleControlMessage *GetAngleControlMessage(const void *buf) {
+  return ::flatbuffers::GetRoot<Messaging::AngleControlMessage>(buf);
+}
+
+inline const Messaging::AngleControlMessage *GetSizePrefixedAngleControlMessage(const void *buf) {
+  return ::flatbuffers::GetSizePrefixedRoot<Messaging::AngleControlMessage>(buf);
+}
+
+inline bool VerifyAngleControlMessageBuffer(
+    ::flatbuffers::Verifier &verifier) {
+  return verifier.VerifyBuffer<Messaging::AngleControlMessage>(nullptr);
+}
+
+inline bool VerifySizePrefixedAngleControlMessageBuffer(
+    ::flatbuffers::Verifier &verifier) {
+  return verifier.VerifySizePrefixedBuffer<Messaging::AngleControlMessage>(nullptr);
+}
+
+inline void FinishAngleControlMessageBuffer(
+    ::flatbuffers::FlatBufferBuilder &fbb,
+    ::flatbuffers::Offset<Messaging::AngleControlMessage> root) {
+  fbb.Finish(root);
+}
+
+inline void FinishSizePrefixedAngleControlMessageBuffer(
+    ::flatbuffers::FlatBufferBuilder &fbb,
+    ::flatbuffers::Offset<Messaging::AngleControlMessage> root) {
+  fbb.FinishSizePrefixed(root);
+}
+
+}  // namespace Messaging
+
+#endif  // FLATBUFFERS_GENERATED_ANGLECONTROLMESSAGE_MESSAGING_H_

components/rpc/CommunicationRouter.cpp

@@ -1,5 +1,6 @@
 #include "CommunicationRouter.h"
 
+#include <AngleControlMessageBuilder.h>
 #include <iostream>
 #include "mDNSDiscoveryService.h"
 #include "MPIMessageBuilder.h"
@@ -101,6 +102,11 @@ void CommunicationRouter::route(uint8_t* buffer, const size_t length) const {
 
     if (mpi_message->destination() == m_module_id) {
         std::cout << "Routing to this module [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
+
+        const auto temp = Flatbuffers::AngleControlMessageBuilder::parse_angle_control_message(reinterpret_cast<const uint8_t *>(mpi_message->payload()))->angle();
+
+        std::cout << "angle from before router" << temp << std::endl;
+
         this->m_rx_callback(reinterpret_cast<char *>(buffer), 512);
     } else if (mpi_message->destination() == PC_ADDR && this->m_leader == m_module_id) {
         std::cout << "Routing to wifi [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;

components/rpc/MessagingInterface.cpp

@@ -4,6 +4,7 @@
 
 #include "MessagingInterface.h"
 
+#include <AngleControlMessageBuilder.h>
 #include <ConfigManager.h>
 #include <freertos/queue.h>
 #include <freertos/semphr.h>
@@ -53,7 +54,11 @@ void MessagingInterface::handleRecv(const char* recv_buffer, int recv_size) {
 
     checkOrInsertTag(mpi_message->tag());
 
-    xQueueSendToBack(m_tag_to_queue.at(mpi_message->tag()), mpi_message->payload(), 0);
+    const auto temp = Flatbuffers::AngleControlMessageBuilder::parse_angle_control_message(reinterpret_cast<const uint8_t *>(mpi_message->payload()))->angle();
+
+    std::cout << "angle from before queue " << temp << std::endl;
+
+    xQueueSendToBack(m_tag_to_queue.at(mpi_message->tag()), mpi_message->payload()->data(), 0);
 }
 
 void MessagingInterface::checkOrInsertTag(const uint8_t tag) {