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Sensor data implementation

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This commit is contained in:
Johnathon Slightham
2026-01-15 01:24:57 -05:00
parent 5b2155985e
commit 3b898b51b4
10 changed files with 218 additions and 125 deletions
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46
components/flatbuffers/SensorMessageBuilder.cpp
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@@ -4,28 +4,40 @@
#include "SensorMessageBuilder.h"
#include "SerializedMessage.h"
#include "Variant.h"
#include "flatbuffers_generated/SensorMessage_generated.h"
namespace Flatbuffers {
SerializedMessage SensorMessageBuilder::build_sensor_message(std::vector<SensorValueInstance>& values) {
builder_.Clear();
SerializedMessage SensorMessageBuilder::build_sensor_message(std::vector<sensor_value> &values) {
builder_.Clear();
std::vector<flatbuffers::Offset<void>> values_vec;
std::vector<uint8_t> sensor_values_vec;
std::vector<flatbuffers::Offset<void>> values_vec;
std::vector<uint8_t> sensor_values_vec;
for (const auto& v : values) {
values_vec.push_back(Messaging::CreateAngle(builder_, v.angle).Union());
sensor_values_vec.push_back(Messaging::SensorValue_Angle);
}
auto values_fb_vec = builder_.CreateVector(values_vec);
const auto values_type_fb_vec = builder_.CreateVector(sensor_values_vec);
const auto message = Messaging::CreateSensorMessage(builder_, values_type_fb_vec, values_fb_vec);
builder_.Finish(message);
return { builder_.GetBufferPointer(), builder_.GetSize() };
for (const auto &v : values) {
std::visit(
overloaded{
[&](target_angle a) {
values_vec.push_back(Messaging::CreateTargetAngle(builder_, a.angle).Union());
sensor_values_vec.push_back(Messaging::SensorValue_TargetAngle);
},
[&](current_angle a) {
values_vec.push_back(Messaging::CreateCurrentAngle(builder_, a.angle).Union());
sensor_values_vec.push_back(Messaging::SensorValue_CurrentAngle);
},
},
v);
}
auto values_fb_vec = builder_.CreateVector(values_vec);
const auto values_type_fb_vec = builder_.CreateVector(sensor_values_vec);
const auto message =
Messaging::CreateSensorMessage(builder_, values_type_fb_vec, values_fb_vec);
builder_.Finish(message);
return {builder_.GetBufferPointer(), builder_.GetSize()};
}
} // namespace Flatbuffers

30
components/flatbuffers/include/SensorMessageBuilder.h
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@@ -6,19 +6,27 @@
#include "flatbuffers_generated/SensorMessage_generated.h"
namespace Flatbuffers {
struct SensorValueInstance {
uint16_t angle; // todo: change to a variant
};
class SensorMessageBuilder{
public:
SensorMessageBuilder() : builder_(128) {}
struct target_angle {
int16_t angle;
};
SerializedMessage build_sensor_message(std::vector<SensorValueInstance>& values);
struct current_angle {
int16_t angle;
};
private:
flatbuffers::FlatBufferBuilder builder_;
};
}
typedef std::variant<target_angle, current_angle> sensor_value;
class SensorMessageBuilder {
public:
SensorMessageBuilder() : builder_(128) {
}
SerializedMessage build_sensor_message(std::vector<sensor_value> &values);
private:
flatbuffers::FlatBufferBuilder builder_;
};
} // namespace Flatbuffers
#endif //SENSORMESSAGEBUILDER_H

12
components/flatbuffers/include/Variant.h Normal file
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@@ -0,0 +1,12 @@
#ifndef VARIANT_H
#define VARIANT_H
#include <variant> // NOLINT
template <class... Ts> struct overloaded : Ts... {
using Ts::operator()...;
};
template <class... Ts> overloaded(Ts...) -> overloaded<Ts...>;
#endif // VARIANT_H

98
components/flatbuffers/include/flatbuffers_generated/SensorMessage_generated.h
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@@ -14,31 +14,37 @@
namespace Messaging {
struct Angle;
struct AngleBuilder;
struct TargetAngle;
struct TargetAngleBuilder;
struct CurrentAngle;
struct CurrentAngleBuilder;
struct SensorMessage;
struct SensorMessageBuilder;
enum SensorValue : uint8_t {
SensorValue_NONE = 0,
SensorValue_Angle = 1,
SensorValue_TargetAngle = 1,
SensorValue_CurrentAngle = 2,
SensorValue_MIN = SensorValue_NONE,
SensorValue_MAX = SensorValue_Angle
SensorValue_MAX = SensorValue_CurrentAngle
};
inline const SensorValue (&EnumValuesSensorValue())[2] {
static const SensorValue values[] = {SensorValue_NONE, SensorValue_Angle};
inline const SensorValue (&EnumValuesSensorValue())[3] {
static const SensorValue values[] = {
SensorValue_NONE, SensorValue_TargetAngle, SensorValue_CurrentAngle};
return values;
}
inline const char *const *EnumNamesSensorValue() {
static const char *const names[3] = {"NONE", "Angle", nullptr};
static const char *const names[4] = {"NONE", "TargetAngle", "CurrentAngle",
nullptr};
return names;
}
inline const char *EnumNameSensorValue(SensorValue e) {
if (::flatbuffers::IsOutRange(e, SensorValue_NONE, SensorValue_Angle))
if (::flatbuffers::IsOutRange(e, SensorValue_NONE, SensorValue_CurrentAngle))
return "";
const size_t index = static_cast<size_t>(e);
return EnumNamesSensorValue()[index];
@@ -48,8 +54,12 @@ template <typename T> struct SensorValueTraits {
static const SensorValue enum_value = SensorValue_NONE;
};
template <> struct SensorValueTraits<Messaging::Angle> {
static const SensorValue enum_value = SensorValue_Angle;
template <> struct SensorValueTraits<Messaging::TargetAngle> {
static const SensorValue enum_value = SensorValue_TargetAngle;
};
template <> struct SensorValueTraits<Messaging::CurrentAngle> {
static const SensorValue enum_value = SensorValue_CurrentAngle;
};
bool VerifySensorValue(::flatbuffers::Verifier &verifier, const void *obj,
@@ -59,8 +69,8 @@ bool VerifySensorValueVector(
const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *values,
const ::flatbuffers::Vector<uint8_t> *types);
struct Angle FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
typedef AngleBuilder Builder;
struct TargetAngle FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
typedef TargetAngleBuilder Builder;
enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
VT_VALUE = 4
};
@@ -71,26 +81,64 @@ struct Angle FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
}
};
struct AngleBuilder {
typedef Angle Table;
struct TargetAngleBuilder {
typedef TargetAngle Table;
::flatbuffers::FlatBufferBuilder &fbb_;
::flatbuffers::uoffset_t start_;
void add_value(int16_t value) {
fbb_.AddElement<int16_t>(Angle::VT_VALUE, value, 0);
fbb_.AddElement<int16_t>(TargetAngle::VT_VALUE, value, 0);
}
explicit AngleBuilder(::flatbuffers::FlatBufferBuilder &_fbb) : fbb_(_fbb) {
explicit TargetAngleBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
: fbb_(_fbb) {
start_ = fbb_.StartTable();
}
::flatbuffers::Offset<Angle> Finish() {
::flatbuffers::Offset<TargetAngle> Finish() {
const auto end = fbb_.EndTable(start_);
auto o = ::flatbuffers::Offset<Angle>(end);
auto o = ::flatbuffers::Offset<TargetAngle>(end);
return o;
}
};
inline ::flatbuffers::Offset<Angle>
CreateAngle(::flatbuffers::FlatBufferBuilder &_fbb, int16_t value = 0) {
AngleBuilder builder_(_fbb);
inline ::flatbuffers::Offset<TargetAngle>
CreateTargetAngle(::flatbuffers::FlatBufferBuilder &_fbb, int16_t value = 0) {
TargetAngleBuilder builder_(_fbb);
builder_.add_value(value);
return builder_.Finish();
}
struct CurrentAngle FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
typedef CurrentAngleBuilder Builder;
enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
VT_VALUE = 4
};
int16_t value() const { return GetField<int16_t>(VT_VALUE, 0); }
bool Verify(::flatbuffers::Verifier &verifier) const {
return VerifyTableStart(verifier) &&
VerifyField<int16_t>(verifier, VT_VALUE, 2) && verifier.EndTable();
}
};
struct CurrentAngleBuilder {
typedef CurrentAngle Table;
::flatbuffers::FlatBufferBuilder &fbb_;
::flatbuffers::uoffset_t start_;
void add_value(int16_t value) {
fbb_.AddElement<int16_t>(CurrentAngle::VT_VALUE, value, 0);
}
explicit CurrentAngleBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
: fbb_(_fbb) {
start_ = fbb_.StartTable();
}
::flatbuffers::Offset<CurrentAngle> Finish() {
const auto end = fbb_.EndTable(start_);
auto o = ::flatbuffers::Offset<CurrentAngle>(end);
return o;
}
};
inline ::flatbuffers::Offset<CurrentAngle>
CreateCurrentAngle(::flatbuffers::FlatBufferBuilder &_fbb, int16_t value = 0) {
CurrentAngleBuilder builder_(_fbb);
builder_.add_value(value);
return builder_.Finish();
}
@@ -171,8 +219,12 @@ inline bool VerifySensorValue(::flatbuffers::Verifier &verifier,
case SensorValue_NONE: {
return true;
}
case SensorValue_Angle: {
auto ptr = reinterpret_cast<const Messaging::Angle *>(obj);
case SensorValue_TargetAngle: {
auto ptr = reinterpret_cast<const Messaging::TargetAngle *>(obj);
return verifier.VerifyTable(ptr);
}
case SensorValue_CurrentAngle: {
auto ptr = reinterpret_cast<const Messaging::CurrentAngle *>(obj);
return verifier.VerifyTable(ptr);
}
default: