create msgs with json

bastianhjaeger · bastianhjaeger · commit ddc2f59b06f0 · 2025-12-08T13:55:24.000+01:00
diff --git a/include/mav/Message.h b/include/mav/Message.h
@@ -39,6 +39,9 @@
 #include <array>
 #include <utility>
 #include <variant>
+
+#include <nlohmann/json.hpp>
+
 #include "MessageDefinition.h"
 #include "utils.h"
 #include "picosha2/picosha2.h"
@@ -284,6 +287,38 @@ namespace mav {
             return *this;
         }
 
+        Message& operator()(const nlohmann::json &j) {
+            for (auto it = j.begin(); it != j.end(); ++it) {
+                const std::string& key = it.key();
+                const auto& value = it.value();
+
+                if (value.is_string()) {
+                    setFromNativeTypeVariant(key, value.get<std::string>());
+                }
+                else if (value.is_number_integer()) {
+                    setFromNativeTypeVariant(key, value.get<int>());
+                }
+                else if (value.is_number_unsigned()) {
+                    setFromNativeTypeVariant(key, value.get<unsigned int>());
+                }
+                else if (value.is_number_float()) {
+                    setFromNativeTypeVariant(key, value.get<float>());
+                }
+                else if (value.is_boolean()) {
+                    setFromNativeTypeVariant(key, value.get<bool>());
+                }
+                else if (value.is_array()) {
+                    // NOTE: choose actual expected vector element type
+                    setFromNativeTypeVariant(key, value.get<std::vector<float>>());
+                }
+                else {
+                    std::cerr << "Unsupported JSON type: " << key << std::endl;
+                }
+            }
+            return *this;
+        }
+
+
         template <typename T>
         Message& set(const std::string &field_key, const T &v, int array_index = 0) {
             auto field = _message_definition->fieldForName(field_key);
