🚌 Adds eventbus with bluetooth adapter

2025-07-08 01:25:35 +02:00
parent 01d46f283b
commit 06b05b2dc1
12 changed files with 532 additions and 1 deletions
@@ -0,0 +1,57 @@
+#pragma once
+#include "msgs/imu_msg.hpp"
+#include "msgs/command_msg.hpp"
+#include "msgs/mode_msg.hpp"
+
+#include "msgs/topics.def"
+
+enum class Topic : uint8_t {
+#define X(e, t) e,
+    TOPIC_LIST
+#undef X
+        COUNT
+};
+
+template <Topic>
+struct TopicTraits;
+
+#define X(e, t)                    \
+    template <>                    \
+    struct TopicTraits<Topic::e> { \
+        using Msg = t;             \
+    };
+TOPIC_LIST
+#undef X
+
+template <typename Msg>
+static Msg parse(JsonVariantConst v) {
+    Msg msg;
+    msg.fromJson(v);
+    return msg;
+}
+
+// enum class Topic : uint8_t {
+//     Imu = 0,
+//     Command = 1,
+//     Mode = 2,
+//     COUNT // Should always be the last
+// };
+
+// template <Topic>
+// struct TopicTraits;
+
+// template <>
+// struct TopicTraits<Topic::Imu> {
+//     using Msg = ImuMsg;
+//     static constexpr Topic id = Topic::Imu;
+// };
+// template <>
+// struct TopicTraits<Topic::Command> {
+//     using Msg = CommandMsg;
+//     static constexpr Topic id = Topic::Command;
+// };
+// template <>
+// struct TopicTraits<Topic::Mode> {
+//     using Msg = ModeMsg;
+//     static constexpr Topic id = Topic::Mode;
+// };