♻️ Updates combase to use protobufs

2026-01-03 12:37:05 +01:00
parent 28bb35d104
commit c0c13754f4
6 changed files with 347 additions and 169 deletions
@@ -0,0 +1,109 @@
+#pragma once
+
+#include <pb_encode.h>
+#include <pb_decode.h>
+#include <platform_shared/websocket_message.pb.h>
+#include <functional>
+
+#define PROTO_BUFFER_SIZE 512
+
+class ProtoDecoder {
+  public:
+    using SubscribeHandler = std::function<void(int32_t tag, int clientId)>;
+    using UnsubscribeHandler = std::function<void(int32_t tag, int clientId)>;
+    using PingHandler = std::function<void(int clientId)>;
+    using ModeHandler = std::function<void(const socket_message_ModeData& data, int clientId)>;
+    using InputHandler = std::function<void(const socket_message_HumanInputData& data, int clientId)>;
+    using AnglesHandler = std::function<void(const socket_message_AnglesData& data, int clientId)>;
+    using KinematicHandler = std::function<void(const socket_message_KinematicData& data, int clientId)>;
+    using WalkGaitHandler = std::function<void(const socket_message_WalkGaitData& data, int clientId)>;
+    using IMUCalibrateExecHandler = std::function<void(int clientId)>;
+    using I2CScanRequestHandler = std::function<void(int clientId)>;
+    using PeripheralSettingsRequestHandler = std::function<void(int clientId)>;
+
+    void onSubscribe(SubscribeHandler handler) { subscribeHandler = handler; }
+    void onUnsubscribe(UnsubscribeHandler handler) { unsubscribeHandler = handler; }
+    void onPing(PingHandler handler) { pingHandler = handler; }
+    void onMode(ModeHandler handler) { modeHandler = handler; }
+    void onInput(InputHandler handler) { inputHandler = handler; }
+    void onAngles(AnglesHandler handler) { anglesHandler = handler; }
+    void onKinematic(KinematicHandler handler) { kinematicHandler = handler; }
+    void onWalkGait(WalkGaitHandler handler) { walkGaitHandler = handler; }
+    void onIMUCalibrateExec(IMUCalibrateExecHandler handler) { imuCalibrateExecHandler = handler; }
+    void onI2CScanRequest(I2CScanRequestHandler handler) { i2cScanRequestHandler = handler; }
+    void onPeripheralSettingsRequest(PeripheralSettingsRequestHandler handler) {
+        peripheralSettingsRequestHandler = handler;
+    }
+
+    bool decode(const uint8_t* data, size_t len, int clientId) {
+        pb_istream_t stream = pb_istream_from_buffer(data, len);
+
+        if (!pb_decode(&stream, socket_message_WebsocketMessage_fields, &msg_)) {
+            return false;
+        }
+
+        switch (msg_.which_message) {
+            case socket_message_WebsocketMessage_sub_notif_tag:
+                if (subscribeHandler) subscribeHandler(msg_.message.sub_notif.tag, clientId);
+                break;
+
+            case socket_message_WebsocketMessage_unsub_notif_tag:
+                if (unsubscribeHandler) unsubscribeHandler(msg_.message.unsub_notif.tag, clientId);
+                break;
+
+            case socket_message_WebsocketMessage_pingmsg_tag:
+                if (pingHandler) pingHandler(clientId);
+                break;
+
+            case socket_message_WebsocketMessage_mode_tag:
+                if (modeHandler) modeHandler(msg_.message.mode, clientId);
+                break;
+
+            case socket_message_WebsocketMessage_human_input_data_tag:
+                if (inputHandler) inputHandler(msg_.message.human_input_data, clientId);
+                break;
+
+            case socket_message_WebsocketMessage_angles_tag:
+                if (anglesHandler) anglesHandler(msg_.message.angles, clientId);
+                break;
+
+            case socket_message_WebsocketMessage_kinematic_data_tag:
+                if (kinematicHandler) kinematicHandler(msg_.message.kinematic_data, clientId);
+                break;
+
+            case socket_message_WebsocketMessage_walk_gait_tag:
+                if (walkGaitHandler) walkGaitHandler(msg_.message.walk_gait, clientId);
+                break;
+
+            case socket_message_WebsocketMessage_imu_calibrate_execute_tag:
+                if (imuCalibrateExecHandler) imuCalibrateExecHandler(clientId);
+                break;
+
+            case socket_message_WebsocketMessage_i2c_scan_data_request_tag:
+                if (i2cScanRequestHandler) i2cScanRequestHandler(clientId);
+                break;
+
+            case socket_message_WebsocketMessage_peripheral_settings_data_request_tag:
+                if (peripheralSettingsRequestHandler) peripheralSettingsRequestHandler(clientId);
+                break;
+
+            default: return false;
+        }
+
+        return true;
+    }
+
+  private:
+    socket_message_WebsocketMessage msg_ = socket_message_WebsocketMessage_init_zero;
+    SubscribeHandler subscribeHandler;
+    UnsubscribeHandler unsubscribeHandler;
+    PingHandler pingHandler;
+    ModeHandler modeHandler;
+    InputHandler inputHandler;
+    AnglesHandler anglesHandler;
+    KinematicHandler kinematicHandler;
+    WalkGaitHandler walkGaitHandler;
+    IMUCalibrateExecHandler imuCalibrateExecHandler;
+    I2CScanRequestHandler i2cScanRequestHandler;
+    PeripheralSettingsRequestHandler peripheralSettingsRequestHandler;
+};