From aa0138dded10400ea491d0d520aa7f69279e4dfc Mon Sep 17 00:00:00 2001
From: Savinien Petitjean <savinien.petitjean@gmail.com>
Date: Thu, 4 Dec 2025 12:04:49 +0100
Subject: [PATCH 1/2] Add cpp generator

---
 .../templates/cpp/trame_builder.cpp.jinja     | 36 ++++++++++++++++++-
 1 file changed, 35 insertions(+), 1 deletion(-)

diff --git a/generators/templates/cpp/trame_builder.cpp.jinja b/generators/templates/cpp/trame_builder.cpp.jinja
index e0d35a0..f4be78a 100644
--- a/generators/templates/cpp/trame_builder.cpp.jinja
+++ b/generators/templates/cpp/trame_builder.cpp.jinja
@@ -1 +1,35 @@
-// Auto-generated primitive
+// Auto-generated primitives for ilo communication
+// This file is generated. Do not edit manually.
+
+#include <string>
+#include <sstream>
+
+{% set type_map = {
+    "boolean": "bool",
+    "integer": "int",
+    "string": "std::string",
+    "float": "float"
+} %}
+
+{% for t in trames %}
+/**
+ * {{ t.doc if t.doc else ("Primitive for " ~ t.name) }}
+ */
+inline std::string {{ t.name }}(
+    {%- for p in t.parameters -%}
+        {{ type_map[p.type] }} {{ p.name }}
+        {%- if not loop.last -%}, {% endif %}
+    {%- endfor -%}
+) {
+    std::ostringstream oss;
+    {# emit parts #}
+    {%- for i in range(t.trame_parts|length) %}
+        oss << "{{ t.trame_parts[i] }}";
+        {% if i < t.parameters|length %}
+        oss << {{ t.parameters[i].name }};
+        {% endif %}
+    {%- endfor %}
+    return oss.str();
+}
+
+{% endfor %}

From 99cafbcf96ab1550ac3de93cf73db7907d0a7a84 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 4 Dec 2025 11:13:13 +0000
Subject: [PATCH 2/2] Regenerate artefacts automatically [skip ci]

---
 artefacts/cpp/trame_builder.cpp | 748 +++++++++++++++++++++++++++++++-
 1 file changed, 747 insertions(+), 1 deletion(-)

diff --git a/artefacts/cpp/trame_builder.cpp b/artefacts/cpp/trame_builder.cpp
index 3f77ed7..df096cb 100644
--- a/artefacts/cpp/trame_builder.cpp
+++ b/artefacts/cpp/trame_builder.cpp
@@ -1 +1,747 @@
-// Auto-generated primitive
\ No newline at end of file
+// Auto-generated primitives for ilo communication
+// This file is generated. Do not edit manually.
+
+#include <string>
+#include <sstream>
+
+
+/**
+ * Primitive for safety_stop
+ */
+inline std::string safety_stop() {
+    std::ostringstream oss;
+    return oss.str();
+}
+
+/**
+ * Primitive for handshake_ilo
+ */
+inline std::string handshake_ilo() {
+    std::ostringstream oss;
+        oss << "ilo";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_robot_version
+ */
+inline std::string get_robot_version() {
+    std::ostringstream oss;
+        oss << "500y";
+    return oss.str();
+}
+
+/**
+ * Primitive for start_firmware_upload
+ */
+inline std::string start_firmware_upload(int size) {
+    std::ostringstream oss;
+        oss << "500x";
+        oss << size;
+    return oss.str();
+}
+
+/**
+ * Primitive for start_trame_s
+ */
+inline std::string start_trame_s(std::string trame_s_params) {
+    std::ostringstream oss;
+        oss << "0";
+        oss << trame_s_params;
+    return oss.str();
+}
+
+/**
+ * Primitive for stop_tasks
+ */
+inline std::string stop_tasks() {
+    std::ostringstream oss;
+        oss << "00";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_color_rgb_center
+ */
+inline std::string get_color_rgb_center() {
+    std::ostringstream oss;
+        oss << "10c";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_color_rgb_left
+ */
+inline std::string get_color_rgb_left() {
+    std::ostringstream oss;
+        oss << "10l";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_color_rgb_right
+ */
+inline std::string get_color_rgb_right() {
+    std::ostringstream oss;
+        oss << "10d";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_color_clear
+ */
+inline std::string get_color_clear() {
+    std::ostringstream oss;
+        oss << "11";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_line
+ */
+inline std::string get_line() {
+    std::ostringstream oss;
+        oss << "12";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_line_threshold_value
+ */
+inline std::string set_line_threshold_value(int threshold) {
+    std::ostringstream oss;
+        oss << "13t";
+        oss << threshold;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_line_threshold_value
+ */
+inline std::string get_line_threshold_value() {
+    std::ostringstream oss;
+        oss << "14";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_accessory_status
+ */
+inline std::string get_accessory_status() {
+    std::ostringstream oss;
+        oss << "15";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_sensor_distance
+ */
+inline std::string get_sensor_distance() {
+    std::ostringstream oss;
+        oss << "20";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_distance_front
+ */
+inline std::string get_distance_front() {
+    std::ostringstream oss;
+        oss << "21";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_distance_right
+ */
+inline std::string get_distance_right() {
+    std::ostringstream oss;
+        oss << "22";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_distance_back
+ */
+inline std::string get_distance_back() {
+    std::ostringstream oss;
+        oss << "23";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_distance_left
+ */
+inline std::string get_distance_left() {
+    std::ostringstream oss;
+        oss << "24";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_imu_info
+ */
+inline std::string get_imu_info() {
+    std::ostringstream oss;
+        oss << "30";
+    return oss.str();
+}
+
+/**
+ * Primitive for reset_angle
+ */
+inline std::string reset_angle() {
+    std::ostringstream oss;
+        oss << "31";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_raw_imu
+ */
+inline std::string get_raw_imu() {
+    std::ostringstream oss;
+        oss << "32";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_battery_info
+ */
+inline std::string get_battery_info() {
+    std::ostringstream oss;
+        oss << "40";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_led_color
+ */
+inline std::string get_led_color() {
+    std::ostringstream oss;
+        oss << "50";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_led_color_circle
+ */
+inline std::string set_led_color_circle(std::string r, std::string g, std::string b) {
+    std::ostringstream oss;
+        oss << "511r";
+        oss << r;
+        oss << "g";
+        oss << g;
+        oss << "b";
+        oss << b;
+    return oss.str();
+}
+
+/**
+ * Primitive for set_led_color_circle
+ */
+inline std::string set_led_color_circle(std::string r, std::string g, std::string b) {
+    std::ostringstream oss;
+        oss << "512r";
+        oss << r;
+        oss << "g";
+        oss << g;
+        oss << "b";
+        oss << b;
+    return oss.str();
+}
+
+/**
+ * Primitive for set_led_shape
+ */
+inline std::string set_led_shape(std::string shape) {
+    std::ostringstream oss;
+        oss << "52v";
+        oss << shape;
+    return oss.str();
+}
+
+/**
+ * Primitive for set_led_mode
+ */
+inline std::string set_led_mode(std::string mode, int nb_loop) {
+    std::ostringstream oss;
+        oss << "53";
+        oss << mode;
+        oss << "/";
+        oss << nb_loop;
+    return oss.str();
+}
+
+/**
+ * Primitive for set_led_captor
+ */
+inline std::string set_led_captor(int brightness) {
+    std::ostringstream oss;
+        oss << "54l";
+        oss << brightness;
+    return oss.str();
+}
+
+/**
+ * Primitive for set_led_single
+ */
+inline std::string set_led_single(std::string type, int id, int red, int green, int blue) {
+    std::ostringstream oss;
+        oss << "55t";
+        oss << type;
+        oss << "d";
+        oss << id;
+        oss << "r";
+        oss << red;
+        oss << "g";
+        oss << green;
+        oss << "b";
+        oss << blue;
+    return oss.str();
+}
+
+/**
+ * Primitive for display_word
+ */
+inline std::string display_word(std::string word, int delay, int nb_loops) {
+    std::ostringstream oss;
+        oss << "56w";
+        oss << word;
+        oss << "d";
+        oss << delay;
+        oss << "/";
+        oss << nb_loops;
+    return oss.str();
+}
+
+/**
+ * Primitive for display_word_slide
+ */
+inline std::string display_word_slide() {
+    std::ostringstream oss;
+        oss << "57";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_animation_flag_false
+ */
+inline std::string set_animation_flag_false() {
+    std::ostringstream oss;
+        oss << "58";
+    return oss.str();
+}
+
+/**
+ * Primitive for run_command_motor
+ */
+inline std::string run_command_motor(std::string params) {
+    std::ostringstream oss;
+        oss << "a";
+        oss << params;
+    return oss.str();
+}
+
+/**
+ * Primitive for ping_motor
+ */
+inline std::string ping_motor(int ping_status_0, int ping_status_1) {
+    std::ostringstream oss;
+        oss << "60i";
+        oss << ping_status_0;
+        oss << "s";
+        oss << ping_status_1;
+    return oss.str();
+}
+
+/**
+ * Primitive for drive_single_motor_speed
+ */
+inline std::string drive_single_motor_speed(int motor_index, int acc, int speed) {
+    std::ostringstream oss;
+        oss << "610i";
+        oss << motor_index;
+        oss << "a";
+        oss << acc;
+        oss << "v";
+        oss << speed;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_single_motor_speed
+ */
+inline std::string get_single_motor_speed(int motor_index) {
+    std::ostringstream oss;
+        oss << "611i";
+        oss << motor_index;
+    return oss.str();
+}
+
+/**
+ * Primitive for drive_single_motor_angle
+ */
+inline std::string drive_single_motor_angle(int motor_index, int acc, int vel, int position) {
+    std::ostringstream oss;
+        oss << "620i";
+        oss << motor_index;
+        oss << "a";
+        oss << acc;
+        oss << "v";
+        oss << vel;
+        oss << "p";
+        oss << position;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_single_motor_angle
+ */
+inline std::string get_single_motor_angle(int motor_index) {
+    std::ostringstream oss;
+        oss << "621i";
+        oss << motor_index;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_single_motor_temp
+ */
+inline std::string get_single_motor_temp(int motor_index) {
+    std::ostringstream oss;
+        oss << "63i";
+        oss << motor_index;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_single_motor_volt
+ */
+inline std::string get_single_motor_volt(int motor_index) {
+    std::ostringstream oss;
+        oss << "64i";
+        oss << motor_index;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_single_motor_load
+ */
+inline std::string get_single_motor_load(int motor_index) {
+    std::ostringstream oss;
+        oss << "65i";
+        oss << motor_index;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_single_motor_current
+ */
+inline std::string get_single_motor_current(int motor_index) {
+    std::ostringstream oss;
+        oss << "66i";
+        oss << motor_index;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_single_motor_move
+ */
+inline std::string get_single_motor_move(int motor_index) {
+    std::ostringstream oss;
+        oss << "67i";
+        oss << motor_index;
+    return oss.str();
+}
+
+/**
+ * Primitive for set_motors_ilo_acc
+ */
+inline std::string set_motors_ilo_acc(int acc) {
+    std::ostringstream oss;
+        oss << "680a";
+        oss << acc;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_motors_ilo_acc
+ */
+inline std::string get_motors_ilo_acc() {
+    std::ostringstream oss;
+        oss << "681";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_tempo_pos
+ */
+inline std::string set_tempo_pos(int tempo_pos) {
+    std::ostringstream oss;
+        oss << "690t";
+        oss << tempo_pos;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_tempo_pos
+ */
+inline std::string get_tempo_pos() {
+    std::ostringstream oss;
+        oss << "691";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_pid
+ */
+inline std::string set_pid(int Kp, int Ki, int Kd) {
+    std::ostringstream oss;
+        oss << "70p";
+        oss << Kp;
+        oss << "i";
+        oss << Ki;
+        oss << "d";
+        oss << Kd;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_pid
+ */
+inline std::string get_pid() {
+    std::ostringstream oss;
+        oss << "71";
+    return oss.str();
+}
+
+/**
+ * Primitive for check_auto_mode
+ */
+inline std::string check_auto_mode(int current_auto_mode) {
+    std::ostringstream oss;
+        oss << "80";
+        oss << current_auto_mode;
+    return oss.str();
+}
+
+/**
+ * Primitive for set_wifi_credentials
+ */
+inline std::string set_wifi_credentials(std::string ssid, std::string password) {
+    std::ostringstream oss;
+        oss << "90";
+        oss << ssid;
+        oss << "{|||}";
+        oss << password;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_wifi_credentials
+ */
+inline std::string get_wifi_credentials() {
+    std::ostringstream oss;
+        oss << "92";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_hostname
+ */
+inline std::string get_hostname() {
+    std::ostringstream oss;
+        oss << "93";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_hostname_legacy
+ */
+inline std::string get_hostname_legacy() {
+    std::ostringstream oss;
+        oss << "930";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_name
+ */
+inline std::string set_name(std::string name) {
+    std::ostringstream oss;
+        oss << "94n";
+        oss << name;
+    return oss.str();
+}
+
+/**
+ * Primitive for set_server_status
+ */
+inline std::string set_server_status(int status) {
+    std::ostringstream oss;
+        oss << "95s";
+        oss << status;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_server_status
+ */
+inline std::string get_server_status() {
+    std::ostringstream oss;
+        oss << "96";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_accessory_data
+ */
+inline std::string get_accessory_data() {
+    std::ostringstream oss;
+        oss << "100";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_accessory_info
+ */
+inline std::string get_accessory_info() {
+    std::ostringstream oss;
+        oss << "101";
+    return oss.str();
+}
+
+/**
+ * Primitive for very_very_usefull
+ */
+inline std::string very_very_usefull() {
+    std::ostringstream oss;
+        oss << "102";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_debug_state
+ */
+inline std::string set_debug_state(int state) {
+    std::ostringstream oss;
+        oss << "103s";
+        oss << state;
+    return oss.str();
+}
+
+/**
+ * Primitive for start_diag
+ */
+inline std::string start_diag() {
+    std::ostringstream oss;
+        oss << "110";
+    return oss.str();
+}
+
+/**
+ * Primitive for get_manufacturing_date
+ */
+inline std::string get_manufacturing_date() {
+    std::ostringstream oss;
+        oss << "120";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_manufacturing_date
+ */
+inline std::string set_manufacturing_date(std::string date) {
+    std::ostringstream oss;
+        oss << "121s";
+        oss << date;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_first_use_date
+ */
+inline std::string get_first_use_date() {
+    std::ostringstream oss;
+        oss << "130";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_first_use_date
+ */
+inline std::string set_first_use_date(std::string date) {
+    std::ostringstream oss;
+        oss << "131s";
+        oss << date;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_product_version
+ */
+inline std::string get_product_version() {
+    std::ostringstream oss;
+        oss << "140";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_product_version
+ */
+inline std::string set_product_version(std::string version) {
+    std::ostringstream oss;
+        oss << "141s";
+        oss << version;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_product_id
+ */
+inline std::string get_product_id() {
+    std::ostringstream oss;
+        oss << "150";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_product_id
+ */
+inline std::string set_product_id(std::string product_id) {
+    std::ostringstream oss;
+        oss << "151s";
+        oss << product_id;
+    return oss.str();
+}
+
+/**
+ * Primitive for get_review_date
+ */
+inline std::string get_review_date() {
+    std::ostringstream oss;
+        oss << "160";
+    return oss.str();
+}
+
+/**
+ * Primitive for set_review_date
+ */
+inline std::string set_review_date(std::string date) {
+    std::ostringstream oss;
+        oss << "161s";
+        oss << date;
+    return oss.str();
+}
+
+/**
+ * Primitive for set_auto_setup
+ */
+inline std::string set_auto_setup(int auto_setup) {
+    std::ostringstream oss;
+        oss << "170a";
+        oss << auto_setup;
+    return oss.str();
+}
+