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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