Rune Harlyk
57 lines
1.1 KiB
C++
57 lines
1.1 KiB
C++
#pragma once
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#include "msgs/imu_msg.hpp"
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#include "msgs/command_msg.hpp"
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#include "msgs/mode_msg.hpp"
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#include "msgs/topics.def"
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enum class Topic : uint8_t {
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#define X(e, t) e,
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TOPIC_LIST
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#undef X
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COUNT
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};
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template <Topic>
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struct TopicTraits;
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#define X(e, t) \
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template <> \
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struct TopicTraits<Topic::e> { \
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using Msg = t; \
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};
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TOPIC_LIST
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#undef X
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template <typename Msg>
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static Msg parse(JsonVariantConst v) {
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Msg msg;
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msg.fromJson(v);
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return msg;
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}
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// enum class Topic : uint8_t {
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// Imu = 0,
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// Command = 1,
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// Mode = 2,
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// COUNT // Should always be the last
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// };
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// template <Topic>
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// struct TopicTraits;
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// template <>
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// struct TopicTraits<Topic::Imu> {
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// using Msg = ImuMsg;
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// static constexpr Topic id = Topic::Imu;
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// };
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// template <>
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// struct TopicTraits<Topic::Command> {
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// using Msg = CommandMsg;
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// static constexpr Topic id = Topic::Command;
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// };
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// template <>
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// struct TopicTraits<Topic::Mode> {
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// using Msg = ModeMsg;
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// static constexpr Topic id = Topic::Mode;
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// };
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