Cleanup for release

Frontend/RobotConfiguration.fbs

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+include "../RobotModule.fbs";
+
+namespace Frontend;
+
+table ModuleConnection {
+    from_module_id: uint8;
+    to_module_id: uint8;
+    from_socket: uint8;
+    to_socket: uint8;
+    orientation: Orientation;
+}
+
+table RobotConfiguration{
+    modules: [RobotModule];
+    connections: [ModuleConnection];
+}
+
+root_type RobotConfiguration;

Messaging/AngleControlMessage.fbs

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+namespace Messaging;
+
+table AngleControlMessage {
+    angle: int16;
+}
+
+root_type AngleControlMessage;

Messaging/ConfigMessage.fbs

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+namespace Messaging;
+
+enum EntryType : byte {
+  NONE = 0,
+  I32,
+  U32,
+  I64,
+  U64,
+  STRING,
+  BLOB
+}
+
+table I32Value { value: int32; }
+table U32Value { value: uint32; }
+table I64Value { value: int64; }
+table U64Value { value: uint64; }
+table StringValue { value: string; }
+table BlobValue { value: [ubyte]; }
+
+union NvsValue {
+  I32Value,
+  U32Value,
+  I64Value,
+  U64Value,
+  StringValue,
+  BlobValue
+}
+
+table ConfigMessage {
+  key: string;
+  type: EntryType;
+  value: NvsValue;
+}
+
+root_type ConfigMessage;

Messaging/MPIMessage.fbs

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+namespace Messaging;
+
+enum MessageType : byte {
+  BROADCAST = 0,
+  PTP = 1,
+}
+
+table MPIMessage {
+  type: MessageType;
+  sender: uint8;
+  destination: uint8;
+  sequence_number: uint16;
+  is_durable: bool;
+  length: uint16;
+  tag: uint8;
+  payload: [ubyte];
+}
+
+root_type MPIMessage;

Messaging/OTAPacket.fbs

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+namespace Messaging;
+
+table OTAPacket {
+  sequence_number: uint16;
+  length: uint16;
+  payload: [ubyte];
+}
+
+root_type OTAPacket;

Messaging/RPCCall/ReturnCall.fbs

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+namespace Messaging;
+
+table ReturnCall {
+  unique_id: uint8;
+  length: uint16;
+  return_value: [ubyte];
+}
+
+root_type ReturnCall;

Messaging/RPCCall/SendCall.fbs

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+namespace Messaging;
+
+table SendCall {
+  tag: uint8;
+  unique_id: uint8;
+  length: uint16;
+  parameters: [ubyte];
+}
+
+root_type SendCall;

Messaging/SensorMessage.fbs

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+namespace Messaging;
+
+table TargetAngle {
+  value: int16;
+}
+
+table CurrentText {
+  value: string;
+}
+
+table CurrentAngle {
+  value: int16;
+}
+
+table Distance {
+  value: float;
+}
+
+table Temperature {
+  value: float;
+}
+
+table Position {
+  heading: float;
+  pitch: float;
+  roll: float;
+}
+
+union SensorValue {
+  TargetAngle,
+  CurrentAngle,
+  CurrentText,
+  Distance,
+  Temperature,
+  Position
+}
+
+table SensorMessage {
+  values: [SensorValue];
+}
+
+root_type SensorMessage;

Messaging/TextControlMessage.fbs

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+namespace Messaging;
+
+table TextControlMessage {
+    message: string;
+}
+
+root_type TextControlMessage;

Messaging/TopologyMessage.fbs

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+include "../RobotModule.fbs";
+
+namespace Messaging;
+
+enum ConnectionType : byte {
+  DIRECT = 0,
+  HOP = 1,
+}
+
+table TopologyMessage{
+    module_id: uint8;
+    module_type: ModuleType;
+    num_channels: uint8;
+    channel_to_module: [uint8]; // index is channel, value is connected board; 0 represents no connection
+    channel_to_orientation: [Orientation]; // index is channel, value is orientation
+    connection: ConnectionType;
+    leader: uint8;
+    firmware: string;
+}
+
+root_type TopologyMessage;

README.md

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+# Flatbuffers
+
+We use [Google's Flatbuffers](https://flatbuffers.dev) for serialization. The main benefit of Flatbuffers over other serialization libraries is that Flatbuffers is small and fast (it does not require an unpacking step).
+
+This repository contains all the Flatbuffer definition files (`.fbs`). It should only contain definition files.
+
+Unless there is a good reason to add fields to the middle of a schema, please only add new fields to the end of schema files (to help maintain backward compatibility).
+
+## Compiling
+The schema definitions need to be compiled into code files for the languages we use.
+
+The documentation for Flatbuffer's `flatc` tool can be found [here](https://flatbuffers.dev/flatc).
+
+The generated files should then be copied into the respective repositories. Flatbuffers offers backward and forward compatibility.
+
+### Installation
+#### MacOS
+Install `flatc` with homebrew
+```
+brew install flatbuffers
+```
+
+### Generating
+```
+flatc --cpp <filename>
+```

RobotModule.fbs

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+enum ModuleType: byte {
+  SPLITTER = 0,
+  SERVO_1 = 1,
+  DC_MOTOR = 2,
+  BATTERY = 3,
+  SERVO_2 = 4,
+  DISPLAY = 5,
+  GRIPPER = 6,
+  SPEAKER = 7,
+  IMU = 8,
+  DISTANCE_SENSOR = 9,
+  SPLITTER_2 = 10,
+  SPLITTER_3 = 11,
+  SPLITTER_4 = 12,
+  SPLITTER_5 = 13,
+  SPLITTER_6 = 14,
+  SPLITTER_7 = 15,
+  SPLITTER_8 = 16
+}
+
+enum Orientation : byte {
+  Deg0 = 0,
+  Deg90 = 1,
+  Deg180 = 2,
+  Deg270 = 3,
+}
+
+table MotorState {
+    angle: int;
+}
+
+union ModuleState {
+    MotorState
+}
+
+table RobotModule {
+  id: uint8;
+  module_type: ModuleType;
+  configuration: ModuleState;
+}
+
+root_type RobotModule;

movement.fbs

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+namespace Movement;
+
+struct ConditionBlob {
+    value: ushort;
+    cond: ubyte;
+    module_type: ubyte;
+    in_use: ubyte;
+}
+
+table MovementEntry {
+    board_id: ushort;
+    module_type: ubyte;
+    value_action: ushort;
+    condition: ConditionBlob;
+    ack: ubyte;
+    ack_ttl_ms: ushort;
+    post_delay_ms: ushort;
+}
+
+table MovementVector {
+    key: ubyte (key);              // map key
+    movements: [MovementEntry];    // vector value
+}
+
+table MovementSet {
+    movement_map: [MovementVector];
+}
+
+root_type MovementSet;

topology.fbs

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+namespace Topology;
+
+struct ChannelBoardConn {
+    channel: ubyte;
+    board_id: ushort;
+}
+
+table NeighbourBlob {
+    curr_board_id: ushort;
+    num_connections: ubyte;
+    neighbour_connections: [ChannelBoardConn];
+}
+
+table TopologyInfo {
+    num_boards: ushort;
+    boards: [NeighbourBlob];
+}
+
+root_type TopologyInfo;