mirror of
https://github.com/BotChain-Robots/firmware.git
synced 2026-07-08 17:47:21 +02:00
32 lines
1021 B
C++
32 lines
1021 B
C++
//
|
|
// 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() };
|
|
}
|
|
}
|