Start on unix socket server on c++ side

server_v2/include/communication/MessageBuilder.hpp

@@ -0,0 +1,29 @@
+#ifndef COMPLIB_SERVER_MESSAGEBUILDER_HPP
+#define COMPLIB_SERVER_MESSAGEBUILDER_HPP
+
+
+#include "CompLib.pb.h"
+#include "include/Robot.hpp"
+
+class MessageBuilder {
+public:
+  static CompLib::Header *header(const std::string &message_type);
+
+  static CompLib::Status *status(bool successful, const std::string &error_message);
+
+  static CompLib::GenericResponse *generic_response(bool successful, const std::string &error_message);
+
+  static CompLib::Status *default_successful_status();
+
+  static CompLib::GenericResponse *default_successful_generic_response();
+
+  static CompLib::EncoderReadPositionsResponse *encoder_read_positions_response(std::array<int32_t, ROBOT_MOTOR_COUNT> positions);
+
+  static CompLib::EncoderReadVelocitiesResponse *encoder_read_velocities_response(std::array<double, ROBOT_MOTOR_COUNT> velocities);
+
+  static CompLib::IRSensorsReadAllResponse *ir_sensors_read_all_response(std::array<uint16_t, ROBOT_IR_SENSOR_COUNT> data);
+
+};
+
+
+#endif //COMPLIB_SERVER_MESSAGEBUILDER_HPP

server_v2/include/communication/MessageProcessor.hpp

@@ -0,0 +1,15 @@
+#ifndef COMPLIB_SERVER_MESSAGEPROCESSOR_HPP
+#define COMPLIB_SERVER_MESSAGEPROCESSOR_HPP
+
+#include <CompLib.pb.h>
+
+#define ERROR_MESSAGE_HEADER_UNKNOWN "Header.message_type unknown"
+
+class MessageProcessor {
+public:
+  static google::protobuf::Message *process_message(const std::string &serializedMessage);
+
+};
+
+
+#endif //COMPLIB_SERVER_MESSAGEPROCESSOR_HPP

server_v2/include/communication/UnixSocketServer.hpp

@@ -0,0 +1,20 @@
+#ifndef COMPLIB_SERVER_UNIXSOCKETSERVER_HPP
+#define COMPLIB_SERVER_UNIXSOCKETSERVER_HPP
+
+#include <thread>
+
+#define SOCKET_PATH "/tmp/compLib"
+#define SOCKET_BUFFER_SIZE 64
+
+class UnixSocketServer {
+public:
+  UnixSocketServer();
+
+private:
+  [[noreturn]] void server_loop();
+
+  std::thread server_thread;
+};
+
+
+#endif //COMPLIB_SERVER_UNIXSOCKETSERVER_HPP