ui/Assets/ControlLibrary/ControlLibrary.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using System.Runtime.InteropServices;
using System;
using Google.FlatBuffers;

public class ControlLibrary : MonoBehaviour
{
    [DllImport("libc_control")]
    public static extern void init();

    [DllImport("libc_control")]
    public static extern void cleanup();

    [DllImport("libc_control")]
    public static extern int send_angle_control(int module_id, int angle);

    [DllImport("libc_control")]
    private static extern IntPtr get_configuration(out int module_id, int leader_id); // the data this points to will be invalidated when called again

    [DllImport("libc_control")]
    public static extern int send_string_control(int module_id, string s);

    [DllImport("libc_control")]
    public static extern double get_distance_control(int module_id);

    [DllImport("libc_control")]
    public static extern bool control_sentry_init(
        string dsn,
        string environment,
        string release
    );

    [DllImport("libc_control")]
    public static extern void control_sentry_set_app_info(
        string app_name,
        string app_version,
        string build_number);

    [DllImport("libc_control")]
    public static extern void control_sentry_shutdown();

    [DllImport("libc_control")]
    private static extern IntPtr get_leaders(out int length);

    public static int[] getRobotLeaders() {
        int length;
        IntPtr ptr = get_leaders(out length);

        byte[] bytes = new byte[length];
        Marshal.Copy(ptr, bytes, 0, length);

        int[] ints = new int[length];
        for (int i = 0; i < length; i++) {
            ints[i] = bytes[i];
        }
        return ints;
    }

    public static Frontend.RobotConfiguration getRobotConfiguration(int leader_id) // this is not thread safe
    {
        int size;
        IntPtr ptr = get_configuration(out size, leader_id);

        byte[] buffer = new byte[size];
        Marshal.Copy(ptr, buffer, 0, size);

        ByteBuffer bb = new ByteBuffer(buffer);
        var myObject = Frontend.RobotConfiguration.GetRootAsRobotConfiguration(bb);
        return myObject;
    }
}