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44 lines
1.4 KiB
C++
44 lines
1.4 KiB
C++
//
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// Created by Johnathon Slightham on 2025-06-30.
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//
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#include "SensorMessageBuilder.h"
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#include "SerializedMessage.h"
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#include "Variant.h"
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#include "flatbuffers_generated/SensorMessage_generated.h"
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namespace Flatbuffers {
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SerializedMessage SensorMessageBuilder::build_sensor_message(std::vector<sensor_value> &values) {
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builder_.Clear();
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std::vector<flatbuffers::Offset<void>> values_vec;
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std::vector<uint8_t> sensor_values_vec;
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for (const auto &v : values) {
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std::visit(
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overloaded{
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[&](target_angle a) {
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values_vec.push_back(Messaging::CreateTargetAngle(builder_, a.angle).Union());
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sensor_values_vec.push_back(Messaging::SensorValue_TargetAngle);
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},
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[&](current_angle a) {
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values_vec.push_back(Messaging::CreateCurrentAngle(builder_, a.angle).Union());
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sensor_values_vec.push_back(Messaging::SensorValue_CurrentAngle);
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},
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},
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v);
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}
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auto values_fb_vec = builder_.CreateVector(values_vec);
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const auto values_type_fb_vec = builder_.CreateVector(sensor_values_vec);
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const auto message =
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Messaging::CreateSensorMessage(builder_, values_type_fb_vec, values_fb_vec);
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builder_.Finish(message);
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return {builder_.GetBufferPointer(), builder_.GetSize()};
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}
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} // namespace Flatbuffers
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