compAIR/compLIB
compAIR/compLIB
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Start on unix socket server on c++ side

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This commit is contained in:
Konstantin Lampalzer 2022-05-22 02:30:07 +02:00
parent 0bef6035ae
commit 1a033c8b03
8 changed files with 300 additions and 9 deletions
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62
server_v2/src/communication/MessageBuilder.cpp Normal file
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#include "include/communication/MessageBuilder.hpp"
using namespace CompLib;
CompLib::Header *MessageBuilder::header(const std::string &message_type) {
auto header = new CompLib::Header();
header->set_message_type(message_type);
return header;
}
CompLib::Status *MessageBuilder::status(bool successful, const std::string &error_message) {
auto status = new CompLib::Status();
status->set_successful(successful);
status->set_error_message(error_message);
return status;
}
CompLib::GenericResponse *MessageBuilder::generic_response(bool successful, const std::string &error_message) {
auto genericResponse = new CompLib::GenericResponse();
genericResponse->set_allocated_header(header(CompLib::GenericResponse::descriptor()->full_name()));
genericResponse->set_allocated_status(status(successful, error_message));
return genericResponse;
}
CompLib::Status *MessageBuilder::default_successful_status() {
return status(true, "");
}
CompLib::GenericResponse *MessageBuilder::default_successful_generic_response() {
return generic_response(true, "");
}
CompLib::EncoderReadPositionsResponse *MessageBuilder::encoder_read_positions_response(std::array<int32_t, ROBOT_MOTOR_COUNT> positions) {
auto response = new EncoderReadPositionsResponse();
response->set_allocated_header(header(EncoderReadPositionsResponse::descriptor()->full_name()));
response->set_allocated_status(default_successful_status());
for (int i = 0; i < ROBOT_MOTOR_COUNT; ++i) {
response->set_positions(i, positions.at(i));
}
return response;
}
CompLib::EncoderReadVelocitiesResponse *MessageBuilder::encoder_read_velocities_response(std::array<double, ROBOT_MOTOR_COUNT> velocities) {
auto response = new EncoderReadVelocitiesResponse();
response->set_allocated_header(header(EncoderReadPositionsResponse::descriptor()->full_name()));
response->set_allocated_status(default_successful_status());
for (int i = 0; i < ROBOT_MOTOR_COUNT; ++i) {
response->set_velocities(i, velocities.at(i));
}
return response;
}
CompLib::IRSensorsReadAllResponse *MessageBuilder::ir_sensors_read_all_response(std::array<uint16_t, ROBOT_IR_SENSOR_COUNT> data) {
auto response = new IRSensorsReadAllResponse();
response->set_allocated_header(header(IRSensorsReadAllResponse::descriptor()->full_name()));
response->set_allocated_status(default_successful_status());
for (int i = 0; i < ROBOT_IR_SENSOR_COUNT; ++i) {
response->set_data(i, data.at(i));
}
return response;
}