62 lines
2.4 KiB
C++
62 lines
2.4 KiB
C++
#include "include/communication/MessageBuilder.hpp"
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using namespace CompLib;
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CompLib::Header *MessageBuilder::header(const std::string &message_type) {
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auto header = new CompLib::Header();
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header->set_message_type(message_type);
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return header;
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}
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CompLib::Status *MessageBuilder::status(bool successful, const std::string &error_message) {
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auto status = new CompLib::Status();
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status->set_successful(successful);
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status->set_error_message(error_message);
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return status;
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}
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CompLib::GenericResponse *MessageBuilder::generic_response(bool successful, const std::string &error_message) {
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auto genericResponse = new CompLib::GenericResponse();
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genericResponse->set_allocated_header(header(CompLib::GenericResponse::descriptor()->full_name()));
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genericResponse->set_allocated_status(status(successful, error_message));
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return genericResponse;
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}
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CompLib::Status *MessageBuilder::default_successful_status() {
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return status(true, "");
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}
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CompLib::GenericResponse *MessageBuilder::default_successful_generic_response() {
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return generic_response(true, "");
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}
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CompLib::EncoderReadPositionsResponse *MessageBuilder::encoder_read_positions_response(std::array<int32_t, ROBOT_MOTOR_COUNT> positions) {
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auto response = new EncoderReadPositionsResponse();
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response->set_allocated_header(header(EncoderReadPositionsResponse::descriptor()->full_name()));
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response->set_allocated_status(default_successful_status());
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for (int i = 0; i < ROBOT_MOTOR_COUNT; ++i) {
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response->set_positions(i, positions.at(i));
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}
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return response;
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}
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CompLib::EncoderReadVelocitiesResponse *MessageBuilder::encoder_read_velocities_response(std::array<double, ROBOT_MOTOR_COUNT> velocities) {
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auto response = new EncoderReadVelocitiesResponse();
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response->set_allocated_header(header(EncoderReadPositionsResponse::descriptor()->full_name()));
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response->set_allocated_status(default_successful_status());
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for (int i = 0; i < ROBOT_MOTOR_COUNT; ++i) {
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response->set_velocities(i, velocities.at(i));
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}
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return response;
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}
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CompLib::IRSensorsReadAllResponse *MessageBuilder::ir_sensors_read_all_response(std::array<uint16_t, ROBOT_IR_SENSOR_COUNT> data) {
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auto response = new IRSensorsReadAllResponse();
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response->set_allocated_header(header(IRSensorsReadAllResponse::descriptor()->full_name()));
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response->set_allocated_status(default_successful_status());
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for (int i = 0; i < ROBOT_IR_SENSOR_COUNT; ++i) {
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response->set_data(i, data.at(i));
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}
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return response;
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}
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