Send robot topology to PC

components/flatbuffers/include/TopologyMessageBuilder.h

@@ -0,0 +1,33 @@
+//
+// Created by Johnathon Slightham on 2025-06-30.
+//
+
+#ifndef TOPOLOGYMESSAGEBUILDER_H
+#define TOPOLOGYMESSAGEBUILDER_H
+
+#include <string>
+#include <vector>
+
+#include "SerializedMessage.h"
+#include "flatbuffers_generated/TopologyMessage_generated.h"
+#include "flatbuffers/flatbuffers.h"
+
+namespace Flatbuffers {
+    class TopologyMessageBuilder {
+    public:
+        TopologyMessageBuilder() : builder_(1024) {}
+
+        SerializedMessage build_topology_message(
+            uint8_t module_id,
+            ModuleType module_type,
+            const std::vector<uint8_t>& channel_to_module,
+            const std::vector<int8_t>& orientation_to_module);
+
+        static const Messaging::TopologyMessage* parse_topology_message(const uint8_t* buffer);
+
+    private:
+        flatbuffers::FlatBufferBuilder builder_;
+    };
+}
+
+#endif //TOPOLOGYMESSAGEBUILDER_H