Rune Harlyk
57 lines
1.1 KiB
C++
57 lines
1.1 KiB
C++
#pragma once
|
|
#include "msgs/imu_msg.hpp"
|
|
#include "msgs/command_msg.hpp"
|
|
#include "msgs/mode_msg.hpp"
|
|
#include "msgs/servo_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;
|
|
// };
|