Work on sensor

components/flatbuffers/CMakeLists.txt

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

components/flatbuffers/SensorMessageBuilder.cpp

@@ -0,0 +1,31 @@
+//
+// Created by Johnathon Slightham on 2025-06-30.
+//
+
+#include "SensorMessageBuilder.h"
+#include "SerializedMessage.h"
+#include "flatbuffers_generated/SensorMessage_generated.h"
+
+namespace Flatbuffers {
+
+    SerializedMessage SensorMessageBuilder::build_sensor_message(std::vector<SensorValueInstance>& values) {
+        builder_.Clear();
+
+        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() };
+    }
+}

components/flatbuffers/include/SensorMessageBuilder.h

@@ -0,0 +1,24 @@
+
+#ifndef SENSORMESSAGEBUILDER_H
+#define SENSORMESSAGEBUILDER_H
+
+#include "SerializedMessage.h"
+#include "flatbuffers_generated/SensorMessage_generated.h"
+
+namespace Flatbuffers {
+    struct SensorValueInstance {
+        uint16_t angle; // todo: change to a variant
+    };
+
+    class SensorMessageBuilder{
+    public:
+        SensorMessageBuilder() : builder_(128) {}
+
+        SerializedMessage build_sensor_message(std::vector<SensorValueInstance>& values);
+
+    private:
+        flatbuffers::FlatBufferBuilder builder_;
+    };
+}
+
+#endif //SENSORMESSAGEBUILDER_H

components/flatbuffers/include/SerializedMessage.h

@@ -5,10 +5,12 @@
 #ifndef SERIALIZEDMESSAGE_H
 #define SERIALIZEDMESSAGE_H
 
+#include <cstdint>
+
 namespace Flatbuffers {
     struct SerializedMessage {
         void* data;
-        size_t size;
+        std::size_t size;
     };
 }