.. _program_listing_file_src_tap_communication_tcp-server_json_messages.cpp:

Program Listing for File json_messages.cpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_communication_tcp-server_json_messages.cpp>` (``src/tap/communication/tcp-server/json_messages.cpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #ifdef PLATFORM_HOSTED
   
   #include "json_messages.hpp"
   
   #include <iostream>
   #include <string>
   
   #include "tap/motor/dji_motor.hpp"
   
   namespace tap
   {
   namespace communication
   {
   namespace json
   {
   using std::cout;
   using std::string;
   
   string makeMotorMessage(const tap::motor::DjiMotor& motor)
   {
       string jsonMessage =
           "{\"messageType\":\"motor\","
           "\"canBus\":" +
           std::to_string(static_cast<int>(motor.getCanBus()) + 1) + "," +
           "\"motorID\":" + std::to_string(motor.getMotorIdentifier()) + "," +
           "\"shaftRPM\":" + std::to_string(motor.getShaftRPM()) + "," +
           "\"torque\":" + std::to_string(motor.getTorque()) + "," +
           "\"encoderValue\":" + std::to_string(motor.getEncoderUnwrapped()) + "}";
       return jsonMessage;
   }
   
   }  // namespace json
   
   }  // namespace communication
   
   }  // namespace tap
   
   #endif  // PLATFORM_HOSTED