29 lines
1,000 B
C++
29 lines
1,000 B
C++
#ifndef COMPLIB_SERVER_MESSAGEBUILDER_HPP
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#define COMPLIB_SERVER_MESSAGEBUILDER_HPP
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#include "CompLib.pb.h"
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#include "include/Robot.hpp"
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class MessageBuilder {
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public:
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static CompLib::Header *header(const std::string &message_type);
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static CompLib::Status *status(bool successful, const std::string &error_message);
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static CompLib::GenericResponse *generic_response(bool successful, const std::string &error_message);
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static CompLib::Status *default_successful_status();
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static CompLib::GenericResponse *default_successful_generic_response();
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static CompLib::EncoderReadPositionsResponse *encoder_read_positions_response(std::array<int32_t, ROBOT_MOTOR_COUNT> positions);
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static CompLib::EncoderReadVelocitiesResponse *encoder_read_velocities_response(std::array<double, ROBOT_MOTOR_COUNT> velocities);
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static CompLib::IRSensorsReadAllResponse *ir_sensors_read_all_response(std::array<uint16_t, ROBOT_IR_SENSOR_COUNT> data);
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};
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#endif //COMPLIB_SERVER_MESSAGEBUILDER_HPP
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