Send robot topology to PC

components/flatbuffers/TopologyMessageBuilder.cpp

@@ -0,0 +1,37 @@
+//
+// Created by Johnathon Slightham on 2025-06-30.
+//
+
+#include "TopologyMessageBuilder.h"
+
+#include "SerializedMessage.h"
+
+namespace Flatbuffers {
+    SerializedMessage TopologyMessageBuilder::build_topology_message(
+        const uint8_t module_id,
+        const ModuleType module_type,
+        const std::vector<uint8_t>& channel_to_module,
+        const std::vector<int8_t>& orientation_to_module) {
+        builder_.Clear();
+
+        const auto orientation_to_module_vector = builder_.CreateVector(orientation_to_module);
+        const auto channel_to_module_vector = builder_.CreateVector(channel_to_module);
+
+        const auto message = Messaging::CreateTopologyMessage(
+            builder_,
+            module_id,
+            module_type,
+            channel_to_module.size(),
+            channel_to_module_vector,
+            orientation_to_module_vector
+        );
+
+        builder_.Finish(message);
+
+        return {builder_.GetBufferPointer(), builder_.GetSize()};
+    }
+
+    const Messaging::TopologyMessage* TopologyMessageBuilder::parse_topology_message(const uint8_t* buffer) {
+        return flatbuffers::GetRoot<Messaging::TopologyMessage>(buffer);
+    }
+}