lib: deps: Add FlatBuffers 1.11.0 header files

FlatBuffers is used to (de-)serialize calibration data. For most use
cases, only a few headers are required, so we provide them with UHD
instead of requiring all UHD users to install their own version of
FlatBuffers.

This adds the headers to host/lib/deps, and updates the Debian copyright
file appropriately.

15 files changed, 9173 insertions, 0 deletions

diff --git a/host/lib/deps/flatbuffers/CMakeLists.txt b/host/lib/deps/flatbuffers/CMakeLists.txt
new file mode 100644
index 000000000..aa8de0589
--- /dev/null
+++ b/host/lib/deps/flatbuffers/CMakeLists.txt
@@ -0,0 +1 @@
+include_directories(include)
diff --git a/host/lib/deps/flatbuffers/LICENSE.txt b/host/lib/deps/flatbuffers/LICENSE.txt
new file mode 100644
index 000000000..a4c5efd82
--- /dev/null
+++ b/host/lib/deps/flatbuffers/LICENSE.txt
@@ -0,0 +1,202 @@
+
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diff --git a/host/lib/deps/flatbuffers/README.md b/host/lib/deps/flatbuffers/README.md
new file mode 100644
index 000000000..5db31a788
--- /dev/null
+++ b/host/lib/deps/flatbuffers/README.md
@@ -0,0 +1,24 @@
+# FlatBuffers: Third-Party Dependency for UHD
+
+Version: 1.11.0
+
+FlatBuffers is a serialization library. We use it to serialize/deserialize
+calibration data (and possibly other data) that we want to store in binary
+format either on device EEPROMs, or on the local filesystem.
+
+A full installation of FlatBuffers is not required to run UHD, and the headers
+are only required to compile libuhd. Therefore, we ship a version of FlatBuffers
+with UHD to avoid the requirement for users to install their own version of
+FlatBuffers.
+
+## License for FlatBuffers
+
+As a separate, third-party project, FlatBuffers has a different license from UHD.
+See the LICENSE file in the same directory as this readme. FlatBuffers has an
+Apache license.
+
+## Importing into UHD
+
+In order to copy FlatBuffers into UHD, only the `include/` subdirectory from the
+FlatBuffers repository was copied into UHD, along with the LICENSE file.
+
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/base.h b/host/lib/deps/flatbuffers/include/flatbuffers/base.h
new file mode 100644
index 000000000..ee8021fde
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/base.h
@@ -0,0 +1,379 @@
+#ifndef FLATBUFFERS_BASE_H_
+#define FLATBUFFERS_BASE_H_
+
+// clang-format off
+
+// If activate should be declared and included first.
+#if defined(FLATBUFFERS_MEMORY_LEAK_TRACKING) && \
+    defined(_MSC_VER) && defined(_DEBUG)
+  // The _CRTDBG_MAP_ALLOC inside <crtdbg.h> will replace
+  // calloc/free (etc) to its debug version using #define directives.
+  #define _CRTDBG_MAP_ALLOC
+  #include <stdlib.h>
+  #include <crtdbg.h>
+  // Replace operator new by trace-enabled version.
+  #define DEBUG_NEW new(_NORMAL_BLOCK, __FILE__, __LINE__)
+  #define new DEBUG_NEW
+#endif
+
+#if !defined(FLATBUFFERS_ASSERT)
+#include <assert.h>
+#define FLATBUFFERS_ASSERT assert
+#elif defined(FLATBUFFERS_ASSERT_INCLUDE)
+// Include file with forward declaration
+#include FLATBUFFERS_ASSERT_INCLUDE
+#endif
+
+#ifndef ARDUINO
+#include <cstdint>
+#endif
+
+#include <cstddef>
+#include <cstdlib>
+#include <cstring>
+
+#if defined(ARDUINO) && !defined(ARDUINOSTL_M_H)
+  #include <utility.h>
+#else
+  #include <utility>
+#endif
+
+#include <string>
+#include <type_traits>
+#include <vector>
+#include <set>
+#include <algorithm>
+#include <iterator>
+#include <memory>
+
+#ifdef _STLPORT_VERSION
+  #define FLATBUFFERS_CPP98_STL
+#endif
+#ifndef FLATBUFFERS_CPP98_STL
+  #include <functional>
+#endif
+
+#include "flatbuffers/stl_emulation.h"
+
+// Note the __clang__ check is needed, because clang presents itself
+// as an older GNUC compiler (4.2).
+// Clang 3.3 and later implement all of the ISO C++ 2011 standard.
+// Clang 3.4 and later implement all of the ISO C++ 2014 standard.
+// http://clang.llvm.org/cxx_status.html
+
+// Note the MSVC value '__cplusplus' may be incorrect:
+// The '__cplusplus' predefined macro in the MSVC stuck at the value 199711L,
+// indicating (erroneously!) that the compiler conformed to the C++98 Standard.
+// This value should be correct starting from MSVC2017-15.7-Preview-3.
+// The '__cplusplus' will be valid only if MSVC2017-15.7-P3 and the `/Zc:__cplusplus` switch is set.
+// Workaround (for details see MSDN):
+// Use the _MSC_VER and _MSVC_LANG definition instead of the __cplusplus  for compatibility.
+// The _MSVC_LANG macro reports the Standard version regardless of the '/Zc:__cplusplus' switch.
+
+#if defined(__GNUC__) && !defined(__clang__)
+  #define FLATBUFFERS_GCC (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__)
+#else
+  #define FLATBUFFERS_GCC 0
+#endif
+
+#if defined(__clang__)
+  #define FLATBUFFERS_CLANG (__clang_major__ * 10000 + __clang_minor__ * 100 + __clang_patchlevel__)
+#else
+  #define FLATBUFFERS_CLANG 0
+#endif
+
+/// @cond FLATBUFFERS_INTERNAL
+#if __cplusplus <= 199711L && \
+    (!defined(_MSC_VER) || _MSC_VER < 1600) && \
+    (!defined(__GNUC__) || \
+      (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__ < 40400))
+  #error A C++11 compatible compiler with support for the auto typing is \
+         required for FlatBuffers.
+  #error __cplusplus _MSC_VER __GNUC__  __GNUC_MINOR__  __GNUC_PATCHLEVEL__
+#endif
+
+#if !defined(__clang__) && \
+    defined(__GNUC__) && \
+    (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__ < 40600)
+  // Backwards compatability for g++ 4.4, and 4.5 which don't have the nullptr
+  // and constexpr keywords. Note the __clang__ check is needed, because clang
+  // presents itself as an older GNUC compiler.
+  #ifndef nullptr_t
+    const class nullptr_t {
+    public:
+      template<class T> inline operator T*() const { return 0; }
+    private:
+      void operator&() const;
+    } nullptr = {};
+  #endif
+  #ifndef constexpr
+    #define constexpr const
+  #endif
+#endif
+
+// The wire format uses a little endian encoding (since that's efficient for
+// the common platforms).
+#if defined(__s390x__)
+  #define FLATBUFFERS_LITTLEENDIAN 0
+#endif // __s390x__
+#if !defined(FLATBUFFERS_LITTLEENDIAN)
+  #if defined(__GNUC__) || defined(__clang__)
+    #if (defined(__BIG_ENDIAN__) || \
+         (defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__))
+      #define FLATBUFFERS_LITTLEENDIAN 0
+    #else
+      #define FLATBUFFERS_LITTLEENDIAN 1
+    #endif // __BIG_ENDIAN__
+  #elif defined(_MSC_VER)
+    #if defined(_M_PPC)
+      #define FLATBUFFERS_LITTLEENDIAN 0
+    #else
+      #define FLATBUFFERS_LITTLEENDIAN 1
+    #endif
+  #else
+    #error Unable to determine endianness, define FLATBUFFERS_LITTLEENDIAN.
+  #endif
+#endif // !defined(FLATBUFFERS_LITTLEENDIAN)
+
+#define FLATBUFFERS_VERSION_MAJOR 1
+#define FLATBUFFERS_VERSION_MINOR 11
+#define FLATBUFFERS_VERSION_REVISION 0
+#define FLATBUFFERS_STRING_EXPAND(X) #X
+#define FLATBUFFERS_STRING(X) FLATBUFFERS_STRING_EXPAND(X)
+
+#if (!defined(_MSC_VER) || _MSC_VER > 1600) && \
+    (!defined(__GNUC__) || (__GNUC__ * 100 + __GNUC_MINOR__ >= 407)) || \
+    defined(__clang__)
+  #define FLATBUFFERS_FINAL_CLASS final
+  #define FLATBUFFERS_OVERRIDE override
+  #define FLATBUFFERS_VTABLE_UNDERLYING_TYPE : flatbuffers::voffset_t
+#else
+  #define FLATBUFFERS_FINAL_CLASS
+  #define FLATBUFFERS_OVERRIDE
+  #define FLATBUFFERS_VTABLE_UNDERLYING_TYPE
+#endif
+
+#if (!defined(_MSC_VER) || _MSC_VER >= 1900) && \
+    (!defined(__GNUC__) || (__GNUC__ * 100 + __GNUC_MINOR__ >= 406)) || \
+    (defined(__cpp_constexpr) && __cpp_constexpr >= 200704)
+  #define FLATBUFFERS_CONSTEXPR constexpr
+#else
+  #define FLATBUFFERS_CONSTEXPR const
+#endif
+
+#if (defined(__cplusplus) && __cplusplus >= 201402L) || \
+    (defined(__cpp_constexpr) && __cpp_constexpr >= 201304)
+  #define FLATBUFFERS_CONSTEXPR_CPP14 FLATBUFFERS_CONSTEXPR
+#else
+  #define FLATBUFFERS_CONSTEXPR_CPP14
+#endif
+
+#if (defined(__GXX_EXPERIMENTAL_CXX0X__) && (__GNUC__ * 100 + __GNUC_MINOR__ >= 406)) || \
+    (defined(_MSC_FULL_VER) && (_MSC_FULL_VER >= 190023026)) || \
+    defined(__clang__)
+  #define FLATBUFFERS_NOEXCEPT noexcept
+#else
+  #define FLATBUFFERS_NOEXCEPT
+#endif
+
+// NOTE: the FLATBUFFERS_DELETE_FUNC macro may change the access mode to
+// private, so be sure to put it at the end or reset access mode explicitly.
+#if (!defined(_MSC_VER) || _MSC_FULL_VER >= 180020827) && \
+    (!defined(__GNUC__) || (__GNUC__ * 100 + __GNUC_MINOR__ >= 404)) || \
+    defined(__clang__)
+  #define FLATBUFFERS_DELETE_FUNC(func) func = delete;
+#else
+  #define FLATBUFFERS_DELETE_FUNC(func) private: func;
+#endif
+
+#ifndef FLATBUFFERS_HAS_STRING_VIEW
+  // Only provide flatbuffers::string_view if __has_include can be used
+  // to detect a header that provides an implementation
+  #if defined(__has_include)
+    // Check for std::string_view (in c++17)
+    #if __has_include(<string_view>) && (__cplusplus >= 201606 || _HAS_CXX17)
+      #include <string_view>
+      namespace flatbuffers {
+        typedef std::string_view string_view;
+      }
+      #define FLATBUFFERS_HAS_STRING_VIEW 1
+    // Check for std::experimental::string_view (in c++14, compiler-dependent)
+    #elif __has_include(<experimental/string_view>) && (__cplusplus >= 201411)
+      #include <experimental/string_view>
+      namespace flatbuffers {
+        typedef std::experimental::string_view string_view;
+      }
+      #define FLATBUFFERS_HAS_STRING_VIEW 1
+    #endif
+  #endif // __has_include
+#endif // !FLATBUFFERS_HAS_STRING_VIEW
+
+#ifndef FLATBUFFERS_HAS_NEW_STRTOD
+  // Modern (C++11) strtod and strtof functions are available for use.
+  // 1) nan/inf strings as argument of strtod;
+  // 2) hex-float  as argument of  strtod/strtof.
+  #if (defined(_MSC_VER) && _MSC_VER >= 1900) || \
+      (defined(__GNUC__) && (__GNUC__ * 100 + __GNUC_MINOR__ >= 409)) || \
+      (defined(__clang__))
+    #define FLATBUFFERS_HAS_NEW_STRTOD 1
+  #endif
+#endif // !FLATBUFFERS_HAS_NEW_STRTOD
+
+#ifndef FLATBUFFERS_LOCALE_INDEPENDENT
+  // Enable locale independent functions {strtof_l, strtod_l,strtoll_l, strtoull_l}.
+  // They are part of the POSIX-2008 but not part of the C/C++ standard.
+  // GCC/Clang have definition (_XOPEN_SOURCE>=700) if POSIX-2008.
+  #if ((defined(_MSC_VER) && _MSC_VER >= 1800)            || \
+       (defined(_XOPEN_SOURCE) && (_XOPEN_SOURCE>=700)))
+    #define FLATBUFFERS_LOCALE_INDEPENDENT 1
+  #else
+    #define FLATBUFFERS_LOCALE_INDEPENDENT 0
+  #endif
+#endif  // !FLATBUFFERS_LOCALE_INDEPENDENT
+
+// Suppress Undefined Behavior Sanitizer (recoverable only). Usage:
+// - __supress_ubsan__("undefined")
+// - __supress_ubsan__("signed-integer-overflow")
+#if defined(__clang__)
+  #define __supress_ubsan__(type) __attribute__((no_sanitize(type)))
+#elif defined(__GNUC__) && (__GNUC__ * 100 + __GNUC_MINOR__ >= 409)
+  #define __supress_ubsan__(type) __attribute__((no_sanitize_undefined))
+#else
+  #define __supress_ubsan__(type)
+#endif
+
+// This is constexpr function used for checking compile-time constants.
+// Avoid `#pragma warning(disable: 4127) // C4127: expression is constant`.
+template<typename T> FLATBUFFERS_CONSTEXPR inline bool IsConstTrue(T t) {
+  return !!t;
+}
+
+// Enable C++ attribute [[]] if std:c++17 or higher.
+#if ((__cplusplus >= 201703L) \
+    || (defined(_MSVC_LANG) &&  (_MSVC_LANG >= 201703L)))
+  // All attributes unknown to an implementation are ignored without causing an error.
+  #define FLATBUFFERS_ATTRIBUTE(attr) [[attr]]
+
+  #define FLATBUFFERS_FALLTHROUGH() [[fallthrough]]
+#else
+  #define FLATBUFFERS_ATTRIBUTE(attr)
+
+  #if FLATBUFFERS_CLANG >= 30800
+    #define FLATBUFFERS_FALLTHROUGH() [[clang::fallthrough]]
+  #elif FLATBUFFERS_GCC >= 70300
+    #define FLATBUFFERS_FALLTHROUGH() [[gnu::fallthrough]]
+  #else
+    #define FLATBUFFERS_FALLTHROUGH()
+  #endif
+#endif
+
+/// @endcond
+
+/// @file
+namespace flatbuffers {
+
+/// @cond FLATBUFFERS_INTERNAL
+// Our default offset / size type, 32bit on purpose on 64bit systems.
+// Also, using a consistent offset type maintains compatibility of serialized
+// offset values between 32bit and 64bit systems.
+typedef uint32_t uoffset_t;
+
+// Signed offsets for references that can go in both directions.
+typedef int32_t soffset_t;
+
+// Offset/index used in v-tables, can be changed to uint8_t in
+// format forks to save a bit of space if desired.
+typedef uint16_t voffset_t;
+
+typedef uintmax_t largest_scalar_t;
+
+// In 32bits, this evaluates to 2GB - 1
+#define FLATBUFFERS_MAX_BUFFER_SIZE ((1ULL << (sizeof(soffset_t) * 8 - 1)) - 1)
+
+// We support aligning the contents of buffers up to this size.
+#define FLATBUFFERS_MAX_ALIGNMENT 16
+
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4127) // C4127: conditional expression is constant
+#endif
+
+template<typename T> T EndianSwap(T t) {
+  #if defined(_MSC_VER)
+    #define FLATBUFFERS_BYTESWAP16 _byteswap_ushort
+    #define FLATBUFFERS_BYTESWAP32 _byteswap_ulong
+    #define FLATBUFFERS_BYTESWAP64 _byteswap_uint64
+  #else
+    #if defined(__GNUC__) && __GNUC__ * 100 + __GNUC_MINOR__ < 408 && !defined(__clang__)
+      // __builtin_bswap16 was missing prior to GCC 4.8.
+      #define FLATBUFFERS_BYTESWAP16(x) \
+        static_cast<uint16_t>(__builtin_bswap32(static_cast<uint32_t>(x) << 16))
+    #else
+      #define FLATBUFFERS_BYTESWAP16 __builtin_bswap16
+    #endif
+    #define FLATBUFFERS_BYTESWAP32 __builtin_bswap32
+    #define FLATBUFFERS_BYTESWAP64 __builtin_bswap64
+  #endif
+  if (sizeof(T) == 1) {   // Compile-time if-then's.
+    return t;
+  } else if (sizeof(T) == 2) {
+    union { T t; uint16_t i; } u;
+    u.t = t;
+    u.i = FLATBUFFERS_BYTESWAP16(u.i);
+    return u.t;
+  } else if (sizeof(T) == 4) {
+    union { T t; uint32_t i; } u;
+    u.t = t;
+    u.i = FLATBUFFERS_BYTESWAP32(u.i);
+    return u.t;
+  } else if (sizeof(T) == 8) {
+    union { T t; uint64_t i; } u;
+    u.t = t;
+    u.i = FLATBUFFERS_BYTESWAP64(u.i);
+    return u.t;
+  } else {
+    FLATBUFFERS_ASSERT(0);
+  }
+}
+
+#if defined(_MSC_VER)
+  #pragma warning(pop)
+#endif
+
+
+template<typename T> T EndianScalar(T t) {
+  #if FLATBUFFERS_LITTLEENDIAN
+    return t;
+  #else
+    return EndianSwap(t);
+  #endif
+}
+
+template<typename T>
+// UBSAN: C++ aliasing type rules, see std::bit_cast<> for details.
+__supress_ubsan__("alignment")
+T ReadScalar(const void *p) {
+  return EndianScalar(*reinterpret_cast<const T *>(p));
+}
+
+template<typename T>
+// UBSAN: C++ aliasing type rules, see std::bit_cast<> for details.
+__supress_ubsan__("alignment")
+void WriteScalar(void *p, T t) {
+  *reinterpret_cast<T *>(p) = EndianScalar(t);
+}
+
+template<typename T> struct Offset;
+template<typename T> __supress_ubsan__("alignment") void WriteScalar(void *p, Offset<T> t) {
+  *reinterpret_cast<uoffset_t *>(p) = EndianScalar(t.o);
+}
+
+// Computes how many bytes you'd have to pad to be able to write an
+// "scalar_size" scalar if the buffer had grown to "buf_size" (downwards in
+// memory).
+inline size_t PaddingBytes(size_t buf_size, size_t scalar_size) {
+  return ((~buf_size) + 1) & (scalar_size - 1);
+}
+
+}  // namespace flatbuffers
+#endif  // FLATBUFFERS_BASE_H_
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/code_generators.h b/host/lib/deps/flatbuffers/include/flatbuffers/code_generators.h
new file mode 100644
index 000000000..c2ed707ae
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/code_generators.h
@@ -0,0 +1,203 @@
+/*
+ * Copyright 2014 Google Inc. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef FLATBUFFERS_CODE_GENERATORS_H_
+#define FLATBUFFERS_CODE_GENERATORS_H_
+
+#include <map>
+#include <sstream>
+#include "flatbuffers/idl.h"
+
+namespace flatbuffers {
+
+// Utility class to assist in generating code through use of text templates.
+//
+// Example code:
+//   CodeWriter code;
+//   code.SetValue("NAME", "Foo");
+//   code += "void {{NAME}}() { printf("%s", "{{NAME}}"); }";
+//   code.SetValue("NAME", "Bar");
+//   code += "void {{NAME}}() { printf("%s", "{{NAME}}"); }";
+//   std::cout << code.ToString() << std::endl;
+//
+// Output:
+//  void Foo() { printf("%s", "Foo"); }
+//  void Bar() { printf("%s", "Bar"); }
+class CodeWriter {
+ public:
+  CodeWriter() {}
+
+  // Clears the current "written" code.
+  void Clear() {
+    stream_.str("");
+    stream_.clear();
+  }
+
+  // Associates a key with a value.  All subsequent calls to operator+=, where
+  // the specified key is contained in {{ and }} delimiters will be replaced by
+  // the given value.
+  void SetValue(const std::string &key, const std::string &value) {
+    value_map_[key] = value;
+  }
+
+  // Appends the given text to the generated code as well as a newline
+  // character.  Any text within {{ and }} delimeters is replaced by values
+  // previously stored in the CodeWriter by calling SetValue above.  The newline
+  // will be suppressed if the text ends with the \\ character.
+  void operator+=(std::string text);
+
+  // Returns the current contents of the CodeWriter as a std::string.
+  std::string ToString() const { return stream_.str(); }
+
+ private:
+  std::map<std::string, std::string> value_map_;
+  std::stringstream stream_;
+};
+
+class BaseGenerator {
+ public:
+  virtual bool generate() = 0;
+
+  static std::string NamespaceDir(const Parser &parser, const std::string &path,
+                                  const Namespace &ns);
+
+ protected:
+  BaseGenerator(const Parser &parser, const std::string &path,
+                const std::string &file_name,
+                const std::string qualifying_start,
+                const std::string qualifying_separator)
+      : parser_(parser),
+        path_(path),
+        file_name_(file_name),
+        qualifying_start_(qualifying_start),
+        qualifying_separator_(qualifying_separator) {}
+  virtual ~BaseGenerator() {}
+
+  // No copy/assign.
+  BaseGenerator &operator=(const BaseGenerator &);
+  BaseGenerator(const BaseGenerator &);
+
+  std::string NamespaceDir(const Namespace &ns) const;
+
+  static const char *FlatBuffersGeneratedWarning();
+
+  static std::string FullNamespace(const char *separator, const Namespace &ns);
+
+  static std::string LastNamespacePart(const Namespace &ns);
+
+  // tracks the current namespace for early exit in WrapInNameSpace
+  // c++, java and csharp returns a different namespace from
+  // the following default (no early exit, always fully qualify),
+  // which works for js and php
+  virtual const Namespace *CurrentNameSpace() const { return nullptr; }
+
+  // Ensure that a type is prefixed with its namespace whenever it is used
+  // outside of its namespace.
+  std::string WrapInNameSpace(const Namespace *ns,
+                              const std::string &name) const;
+
+  std::string WrapInNameSpace(const Definition &def) const;
+
+  std::string GetNameSpace(const Definition &def) const;
+
+  const Parser &parser_;
+  const std::string &path_;
+  const std::string &file_name_;
+  const std::string qualifying_start_;
+  const std::string qualifying_separator_;
+};
+
+struct CommentConfig {
+  const char *first_line;
+  const char *content_line_prefix;
+  const char *last_line;
+};
+
+extern void GenComment(const std::vector<std::string> &dc,
+                       std::string *code_ptr, const CommentConfig *config,
+                       const char *prefix = "");
+
+class FloatConstantGenerator {
+ public:
+  virtual ~FloatConstantGenerator() {}
+  std::string GenFloatConstant(const FieldDef &field) const;
+
+ private:
+  virtual std::string Value(double v, const std::string &src) const = 0;
+  virtual std::string Inf(double v) const = 0;
+  virtual std::string NaN(double v) const = 0;
+
+  virtual std::string Value(float v, const std::string &src) const = 0;
+  virtual std::string Inf(float v) const = 0;
+  virtual std::string NaN(float v) const = 0;
+
+  template<typename T>
+  std::string GenFloatConstantImpl(const FieldDef &field) const;
+};
+
+class SimpleFloatConstantGenerator : public FloatConstantGenerator {
+ public:
+  SimpleFloatConstantGenerator(const char *nan_number,
+                               const char *pos_inf_number,
+                               const char *neg_inf_number);
+
+ private:
+  std::string Value(double v,
+                    const std::string &src) const FLATBUFFERS_OVERRIDE;
+  std::string Inf(double v) const FLATBUFFERS_OVERRIDE;
+  std::string NaN(double v) const FLATBUFFERS_OVERRIDE;
+
+  std::string Value(float v, const std::string &src) const FLATBUFFERS_OVERRIDE;
+  std::string Inf(float v) const FLATBUFFERS_OVERRIDE;
+  std::string NaN(float v) const FLATBUFFERS_OVERRIDE;
+
+  const std::string nan_number_;
+  const std::string pos_inf_number_;
+  const std::string neg_inf_number_;
+};
+
+// C++, C#, Java like generator.
+class TypedFloatConstantGenerator : public FloatConstantGenerator {
+ public:
+  TypedFloatConstantGenerator(const char *double_prefix,
+                              const char *single_prefix, const char *nan_number,
+                              const char *pos_inf_number,
+                              const char *neg_inf_number = "");
+
+ private:
+  std::string Value(double v,
+                    const std::string &src) const FLATBUFFERS_OVERRIDE;
+  std::string Inf(double v) const FLATBUFFERS_OVERRIDE;
+
+  std::string NaN(double v) const FLATBUFFERS_OVERRIDE;
+
+  std::string Value(float v, const std::string &src) const FLATBUFFERS_OVERRIDE;
+  std::string Inf(float v) const FLATBUFFERS_OVERRIDE;
+  std::string NaN(float v) const FLATBUFFERS_OVERRIDE;
+
+  std::string MakeNaN(const std::string &prefix) const;
+  std::string MakeInf(bool neg, const std::string &prefix) const;
+
+  const std::string double_prefix_;
+  const std::string single_prefix_;
+  const std::string nan_number_;
+  const std::string pos_inf_number_;
+  const std::string neg_inf_number_;
+};
+
+}  // namespace flatbuffers
+
+#endif  // FLATBUFFERS_CODE_GENERATORS_H_
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/flatbuffers.h b/host/lib/deps/flatbuffers/include/flatbuffers/flatbuffers.h
new file mode 100644
index 000000000..a1a95f00e
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/flatbuffers.h
@@ -0,0 +1,2613 @@
+/*
+ * Copyright 2014 Google Inc. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef FLATBUFFERS_H_
+#define FLATBUFFERS_H_
+
+#include "flatbuffers/base.h"
+
+#if defined(FLATBUFFERS_NAN_DEFAULTS)
+#include <cmath>
+#endif
+
+namespace flatbuffers {
+// Generic 'operator==' with conditional specialisations.
+template<typename T> inline bool IsTheSameAs(T e, T def) { return e == def; }
+
+#if defined(FLATBUFFERS_NAN_DEFAULTS) && \
+    (!defined(_MSC_VER) || _MSC_VER >= 1800)
+// Like `operator==(e, def)` with weak NaN if T=(float|double).
+template<> inline bool IsTheSameAs<float>(float e, float def) {
+  return (e == def) || (std::isnan(def) && std::isnan(e));
+}
+template<> inline bool IsTheSameAs<double>(double e, double def) {
+  return (e == def) || (std::isnan(def) && std::isnan(e));
+}
+#endif
+
+// Wrapper for uoffset_t to allow safe template specialization.
+// Value is allowed to be 0 to indicate a null object (see e.g. AddOffset).
+template<typename T> struct Offset {
+  uoffset_t o;
+  Offset() : o(0) {}
+  Offset(uoffset_t _o) : o(_o) {}
+  Offset<void> Union() const { return Offset<void>(o); }
+  bool IsNull() const { return !o; }
+};
+
+inline void EndianCheck() {
+  int endiantest = 1;
+  // If this fails, see FLATBUFFERS_LITTLEENDIAN above.
+  FLATBUFFERS_ASSERT(*reinterpret_cast<char *>(&endiantest) ==
+                     FLATBUFFERS_LITTLEENDIAN);
+  (void)endiantest;
+}
+
+template<typename T> FLATBUFFERS_CONSTEXPR size_t AlignOf() {
+  // clang-format off
+  #ifdef _MSC_VER
+    return __alignof(T);
+  #else
+    #ifndef alignof
+      return __alignof__(T);
+    #else
+      return alignof(T);
+    #endif
+  #endif
+  // clang-format on
+}
+
+// When we read serialized data from memory, in the case of most scalars,
+// we want to just read T, but in the case of Offset, we want to actually
+// perform the indirection and return a pointer.
+// The template specialization below does just that.
+// It is wrapped in a struct since function templates can't overload on the
+// return type like this.
+// The typedef is for the convenience of callers of this function
+// (avoiding the need for a trailing return decltype)
+template<typename T> struct IndirectHelper {
+  typedef T return_type;
+  typedef T mutable_return_type;
+  static const size_t element_stride = sizeof(T);
+  static return_type Read(const uint8_t *p, uoffset_t i) {
+    return EndianScalar((reinterpret_cast<const T *>(p))[i]);
+  }
+};
+template<typename T> struct IndirectHelper<Offset<T>> {
+  typedef const T *return_type;
+  typedef T *mutable_return_type;
+  static const size_t element_stride = sizeof(uoffset_t);
+  static return_type Read(const uint8_t *p, uoffset_t i) {
+    p += i * sizeof(uoffset_t);
+    return reinterpret_cast<return_type>(p + ReadScalar<uoffset_t>(p));
+  }
+};
+template<typename T> struct IndirectHelper<const T *> {
+  typedef const T *return_type;
+  typedef T *mutable_return_type;
+  static const size_t element_stride = sizeof(T);
+  static return_type Read(const uint8_t *p, uoffset_t i) {
+    return reinterpret_cast<const T *>(p + i * sizeof(T));
+  }
+};
+
+// An STL compatible iterator implementation for Vector below, effectively
+// calling Get() for every element.
+template<typename T, typename IT> struct VectorIterator {
+  typedef std::random_access_iterator_tag iterator_category;
+  typedef IT value_type;
+  typedef ptrdiff_t difference_type;
+  typedef IT *pointer;
+  typedef IT &reference;
+
+  VectorIterator(const uint8_t *data, uoffset_t i)
+      : data_(data + IndirectHelper<T>::element_stride * i) {}
+  VectorIterator(const VectorIterator &other) : data_(other.data_) {}
+  VectorIterator() : data_(nullptr) {}
+
+  VectorIterator &operator=(const VectorIterator &other) {
+    data_ = other.data_;
+    return *this;
+  }
+
+  // clang-format off
+  #if !defined(FLATBUFFERS_CPP98_STL)
+  VectorIterator &operator=(VectorIterator &&other) {
+    data_ = other.data_;
+    return *this;
+  }
+  #endif  // !defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+
+  bool operator==(const VectorIterator &other) const {
+    return data_ == other.data_;
+  }
+
+  bool operator<(const VectorIterator &other) const {
+    return data_ < other.data_;
+  }
+
+  bool operator!=(const VectorIterator &other) const {
+    return data_ != other.data_;
+  }
+
+  difference_type operator-(const VectorIterator &other) const {
+    return (data_ - other.data_) / IndirectHelper<T>::element_stride;
+  }
+
+  IT operator*() const { return IndirectHelper<T>::Read(data_, 0); }
+
+  IT operator->() const { return IndirectHelper<T>::Read(data_, 0); }
+
+  VectorIterator &operator++() {
+    data_ += IndirectHelper<T>::element_stride;
+    return *this;
+  }
+
+  VectorIterator operator++(int) {
+    VectorIterator temp(data_, 0);
+    data_ += IndirectHelper<T>::element_stride;
+    return temp;
+  }
+
+  VectorIterator operator+(const uoffset_t &offset) const {
+    return VectorIterator(data_ + offset * IndirectHelper<T>::element_stride,
+                          0);
+  }
+
+  VectorIterator &operator+=(const uoffset_t &offset) {
+    data_ += offset * IndirectHelper<T>::element_stride;
+    return *this;
+  }
+
+  VectorIterator &operator--() {
+    data_ -= IndirectHelper<T>::element_stride;
+    return *this;
+  }
+
+  VectorIterator operator--(int) {
+    VectorIterator temp(data_, 0);
+    data_ -= IndirectHelper<T>::element_stride;
+    return temp;
+  }
+
+  VectorIterator operator-(const uoffset_t &offset) const {
+    return VectorIterator(data_ - offset * IndirectHelper<T>::element_stride,
+                          0);
+  }
+
+  VectorIterator &operator-=(const uoffset_t &offset) {
+    data_ -= offset * IndirectHelper<T>::element_stride;
+    return *this;
+  }
+
+ private:
+  const uint8_t *data_;
+};
+
+template<typename Iterator> struct VectorReverseIterator :
+  public std::reverse_iterator<Iterator> {
+
+  explicit VectorReverseIterator(Iterator iter) : iter_(iter) {}
+
+  typename Iterator::value_type operator*() const { return *(iter_ - 1); }
+
+  typename Iterator::value_type operator->() const { return *(iter_ - 1); }
+
+ private:
+  Iterator iter_;
+};
+
+struct String;
+
+// This is used as a helper type for accessing vectors.
+// Vector::data() assumes the vector elements start after the length field.
+template<typename T> class Vector {
+ public:
+  typedef VectorIterator<T, typename IndirectHelper<T>::mutable_return_type>
+      iterator;
+  typedef VectorIterator<T, typename IndirectHelper<T>::return_type>
+      const_iterator;
+  typedef VectorReverseIterator<iterator> reverse_iterator;
+  typedef VectorReverseIterator<const_iterator> const_reverse_iterator;
+
+  uoffset_t size() const { return EndianScalar(length_); }
+
+  // Deprecated: use size(). Here for backwards compatibility.
+  FLATBUFFERS_ATTRIBUTE(deprecated("use size() instead"))
+  uoffset_t Length() const { return size(); }
+
+  typedef typename IndirectHelper<T>::return_type return_type;
+  typedef typename IndirectHelper<T>::mutable_return_type mutable_return_type;
+
+  return_type Get(uoffset_t i) const {
+    FLATBUFFERS_ASSERT(i < size());
+    return IndirectHelper<T>::Read(Data(), i);
+  }
+
+  return_type operator[](uoffset_t i) const { return Get(i); }
+
+  // If this is a Vector of enums, T will be its storage type, not the enum
+  // type. This function makes it convenient to retrieve value with enum
+  // type E.
+  template<typename E> E GetEnum(uoffset_t i) const {
+    return static_cast<E>(Get(i));
+  }
+
+  // If this a vector of unions, this does the cast for you. There's no check
+  // to make sure this is the right type!
+  template<typename U> const U *GetAs(uoffset_t i) const {
+    return reinterpret_cast<const U *>(Get(i));
+  }
+
+  // If this a vector of unions, this does the cast for you. There's no check
+  // to make sure this is actually a string!
+  const String *GetAsString(uoffset_t i) const {
+    return reinterpret_cast<const String *>(Get(i));
+  }
+
+  const void *GetStructFromOffset(size_t o) const {
+    return reinterpret_cast<const void *>(Data() + o);
+  }
+
+  iterator begin() { return iterator(Data(), 0); }
+  const_iterator begin() const { return const_iterator(Data(), 0); }
+
+  iterator end() { return iterator(Data(), size()); }
+  const_iterator end() const { return const_iterator(Data(), size()); }
+
+  reverse_iterator rbegin() { return reverse_iterator(end()); }
+  const_reverse_iterator rbegin() const { return const_reverse_iterator(end()); }
+
+  reverse_iterator rend() { return reverse_iterator(end()); }
+  const_reverse_iterator rend() const { return const_reverse_iterator(end()); }
+
+  const_iterator cbegin() const { return begin(); }
+
+  const_iterator cend() const { return end(); }
+
+  const_reverse_iterator crbegin() const { return rbegin(); }
+
+  const_reverse_iterator crend() const { return rend(); }
+
+  // Change elements if you have a non-const pointer to this object.
+  // Scalars only. See reflection.h, and the documentation.
+  void Mutate(uoffset_t i, const T &val) {
+    FLATBUFFERS_ASSERT(i < size());
+    WriteScalar(data() + i, val);
+  }
+
+  // Change an element of a vector of tables (or strings).
+  // "val" points to the new table/string, as you can obtain from
+  // e.g. reflection::AddFlatBuffer().
+  void MutateOffset(uoffset_t i, const uint8_t *val) {
+    FLATBUFFERS_ASSERT(i < size());
+    static_assert(sizeof(T) == sizeof(uoffset_t), "Unrelated types");
+    WriteScalar(data() + i,
+                static_cast<uoffset_t>(val - (Data() + i * sizeof(uoffset_t))));
+  }
+
+  // Get a mutable pointer to tables/strings inside this vector.
+  mutable_return_type GetMutableObject(uoffset_t i) const {
+    FLATBUFFERS_ASSERT(i < size());
+    return const_cast<mutable_return_type>(IndirectHelper<T>::Read(Data(), i));
+  }
+
+  // The raw data in little endian format. Use with care.
+  const uint8_t *Data() const {
+    return reinterpret_cast<const uint8_t *>(&length_ + 1);
+  }
+
+  uint8_t *Data() { return reinterpret_cast<uint8_t *>(&length_ + 1); }
+
+  // Similarly, but typed, much like std::vector::data
+  const T *data() const { return reinterpret_cast<const T *>(Data()); }
+  T *data() { return reinterpret_cast<T *>(Data()); }
+
+  template<typename K> return_type LookupByKey(K key) const {
+    void *search_result = std::bsearch(
+        &key, Data(), size(), IndirectHelper<T>::element_stride, KeyCompare<K>);
+
+    if (!search_result) {
+      return nullptr;  // Key not found.
+    }
+
+    const uint8_t *element = reinterpret_cast<const uint8_t *>(search_result);
+
+    return IndirectHelper<T>::Read(element, 0);
+  }
+
+ protected:
+  // This class is only used to access pre-existing data. Don't ever
+  // try to construct these manually.
+  Vector();
+
+  uoffset_t length_;
+
+ private:
+  // This class is a pointer. Copying will therefore create an invalid object.
+  // Private and unimplemented copy constructor.
+  Vector(const Vector &);
+
+  template<typename K> static int KeyCompare(const void *ap, const void *bp) {
+    const K *key = reinterpret_cast<const K *>(ap);
+    const uint8_t *data = reinterpret_cast<const uint8_t *>(bp);
+    auto table = IndirectHelper<T>::Read(data, 0);
+
+    // std::bsearch compares with the operands transposed, so we negate the
+    // result here.
+    return -table->KeyCompareWithValue(*key);
+  }
+};
+
+// Represent a vector much like the template above, but in this case we
+// don't know what the element types are (used with reflection.h).
+class VectorOfAny {
+ public:
+  uoffset_t size() const { return EndianScalar(length_); }
+
+  const uint8_t *Data() const {
+    return reinterpret_cast<const uint8_t *>(&length_ + 1);
+  }
+  uint8_t *Data() { return reinterpret_cast<uint8_t *>(&length_ + 1); }
+
+ protected:
+  VectorOfAny();
+
+  uoffset_t length_;
+
+ private:
+  VectorOfAny(const VectorOfAny &);
+};
+
+#ifndef FLATBUFFERS_CPP98_STL
+template<typename T, typename U>
+Vector<Offset<T>> *VectorCast(Vector<Offset<U>> *ptr) {
+  static_assert(std::is_base_of<T, U>::value, "Unrelated types");
+  return reinterpret_cast<Vector<Offset<T>> *>(ptr);
+}
+
+template<typename T, typename U>
+const Vector<Offset<T>> *VectorCast(const Vector<Offset<U>> *ptr) {
+  static_assert(std::is_base_of<T, U>::value, "Unrelated types");
+  return reinterpret_cast<const Vector<Offset<T>> *>(ptr);
+}
+#endif
+
+// Convenient helper function to get the length of any vector, regardless
+// of whether it is null or not (the field is not set).
+template<typename T> static inline size_t VectorLength(const Vector<T> *v) {
+  return v ? v->size() : 0;
+}
+
+// Lexicographically compare two strings (possibly containing nulls), and
+// return true if the first is less than the second.
+static inline bool StringLessThan(const char *a_data, uoffset_t a_size,
+                                  const char *b_data, uoffset_t b_size) {
+  const auto cmp = memcmp(a_data, b_data, (std::min)(a_size, b_size));
+  return cmp == 0 ? a_size < b_size : cmp < 0;
+}
+
+struct String : public Vector<char> {
+  const char *c_str() const { return reinterpret_cast<const char *>(Data()); }
+  std::string str() const { return std::string(c_str(), size()); }
+
+  // clang-format off
+  #ifdef FLATBUFFERS_HAS_STRING_VIEW
+  flatbuffers::string_view string_view() const {
+    return flatbuffers::string_view(c_str(), size());
+  }
+  #endif // FLATBUFFERS_HAS_STRING_VIEW
+  // clang-format on
+
+  bool operator<(const String &o) const {
+    return StringLessThan(this->data(), this->size(), o.data(), o.size());
+  }
+};
+
+// Convenience function to get std::string from a String returning an empty
+// string on null pointer.
+static inline std::string GetString(const String * str) {
+  return str ? str->str() : "";
+}
+
+// Convenience function to get char* from a String returning an empty string on
+// null pointer.
+static inline const char * GetCstring(const String * str) {
+  return str ? str->c_str() : "";
+}
+
+// Allocator interface. This is flatbuffers-specific and meant only for
+// `vector_downward` usage.
+class Allocator {
+ public:
+  virtual ~Allocator() {}
+
+  // Allocate `size` bytes of memory.
+  virtual uint8_t *allocate(size_t size) = 0;
+
+  // Deallocate `size` bytes of memory at `p` allocated by this allocator.
+  virtual void deallocate(uint8_t *p, size_t size) = 0;
+
+  // Reallocate `new_size` bytes of memory, replacing the old region of size
+  // `old_size` at `p`. In contrast to a normal realloc, this grows downwards,
+  // and is intended specifcally for `vector_downward` use.
+  // `in_use_back` and `in_use_front` indicate how much of `old_size` is
+  // actually in use at each end, and needs to be copied.
+  virtual uint8_t *reallocate_downward(uint8_t *old_p, size_t old_size,
+                                       size_t new_size, size_t in_use_back,
+                                       size_t in_use_front) {
+    FLATBUFFERS_ASSERT(new_size > old_size);  // vector_downward only grows
+    uint8_t *new_p = allocate(new_size);
+    memcpy_downward(old_p, old_size, new_p, new_size, in_use_back,
+                    in_use_front);
+    deallocate(old_p, old_size);
+    return new_p;
+  }
+
+ protected:
+  // Called by `reallocate_downward` to copy memory from `old_p` of `old_size`
+  // to `new_p` of `new_size`. Only memory of size `in_use_front` and
+  // `in_use_back` will be copied from the front and back of the old memory
+  // allocation.
+  void memcpy_downward(uint8_t *old_p, size_t old_size,
+                       uint8_t *new_p, size_t new_size,
+                       size_t in_use_back, size_t in_use_front) {
+    memcpy(new_p + new_size - in_use_back, old_p + old_size - in_use_back,
+           in_use_back);
+    memcpy(new_p, old_p, in_use_front);
+  }
+};
+
+// DefaultAllocator uses new/delete to allocate memory regions
+class DefaultAllocator : public Allocator {
+ public:
+  uint8_t *allocate(size_t size) FLATBUFFERS_OVERRIDE {
+    return new uint8_t[size];
+  }
+
+  void deallocate(uint8_t *p, size_t) FLATBUFFERS_OVERRIDE {
+    delete[] p;
+  }
+
+  static void dealloc(void *p, size_t) {
+    delete[] static_cast<uint8_t *>(p);
+  }
+};
+
+// These functions allow for a null allocator to mean use the default allocator,
+// as used by DetachedBuffer and vector_downward below.
+// This is to avoid having a statically or dynamically allocated default
+// allocator, or having to move it between the classes that may own it.
+inline uint8_t *Allocate(Allocator *allocator, size_t size) {
+  return allocator ? allocator->allocate(size)
+                   : DefaultAllocator().allocate(size);
+}
+
+inline void Deallocate(Allocator *allocator, uint8_t *p, size_t size) {
+  if (allocator) allocator->deallocate(p, size);
+  else DefaultAllocator().deallocate(p, size);
+}
+
+inline uint8_t *ReallocateDownward(Allocator *allocator, uint8_t *old_p,
+                                   size_t old_size, size_t new_size,
+                                   size_t in_use_back, size_t in_use_front) {
+  return allocator
+      ? allocator->reallocate_downward(old_p, old_size, new_size,
+                                       in_use_back, in_use_front)
+      : DefaultAllocator().reallocate_downward(old_p, old_size, new_size,
+                                               in_use_back, in_use_front);
+}
+
+// DetachedBuffer is a finished flatbuffer memory region, detached from its
+// builder. The original memory region and allocator are also stored so that
+// the DetachedBuffer can manage the memory lifetime.
+class DetachedBuffer {
+ public:
+  DetachedBuffer()
+      : allocator_(nullptr),
+        own_allocator_(false),
+        buf_(nullptr),
+        reserved_(0),
+        cur_(nullptr),
+        size_(0) {}
+
+  DetachedBuffer(Allocator *allocator, bool own_allocator, uint8_t *buf,
+                 size_t reserved, uint8_t *cur, size_t sz)
+      : allocator_(allocator),
+        own_allocator_(own_allocator),
+        buf_(buf),
+        reserved_(reserved),
+        cur_(cur),
+        size_(sz) {}
+
+  // clang-format off
+  #if !defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+  DetachedBuffer(DetachedBuffer &&other)
+      : allocator_(other.allocator_),
+        own_allocator_(other.own_allocator_),
+        buf_(other.buf_),
+        reserved_(other.reserved_),
+        cur_(other.cur_),
+        size_(other.size_) {
+    other.reset();
+  }
+  // clang-format off
+  #endif  // !defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+
+  // clang-format off
+  #if !defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+  DetachedBuffer &operator=(DetachedBuffer &&other) {
+    destroy();
+
+    allocator_ = other.allocator_;
+    own_allocator_ = other.own_allocator_;
+    buf_ = other.buf_;
+    reserved_ = other.reserved_;
+    cur_ = other.cur_;
+    size_ = other.size_;
+
+    other.reset();
+
+    return *this;
+  }
+  // clang-format off
+  #endif  // !defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+
+  ~DetachedBuffer() { destroy(); }
+
+  const uint8_t *data() const { return cur_; }
+
+  uint8_t *data() { return cur_; }
+
+  size_t size() const { return size_; }
+
+  // clang-format off
+  #if 0  // disabled for now due to the ordering of classes in this header
+  template <class T>
+  bool Verify() const {
+    Verifier verifier(data(), size());
+    return verifier.Verify<T>(nullptr);
+  }
+
+  template <class T>
+  const T* GetRoot() const {
+    return flatbuffers::GetRoot<T>(data());
+  }
+
+  template <class T>
+  T* GetRoot() {
+    return flatbuffers::GetRoot<T>(data());
+  }
+  #endif
+  // clang-format on
+
+  // clang-format off
+  #if !defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+  // These may change access mode, leave these at end of public section
+  FLATBUFFERS_DELETE_FUNC(DetachedBuffer(const DetachedBuffer &other))
+  FLATBUFFERS_DELETE_FUNC(
+      DetachedBuffer &operator=(const DetachedBuffer &other))
+  // clang-format off
+  #endif  // !defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+
+protected:
+  Allocator *allocator_;
+  bool own_allocator_;
+  uint8_t *buf_;
+  size_t reserved_;
+  uint8_t *cur_;
+  size_t size_;
+
+  inline void destroy() {
+    if (buf_) Deallocate(allocator_, buf_, reserved_);
+    if (own_allocator_ && allocator_) { delete allocator_; }
+    reset();
+  }
+
+  inline void reset() {
+    allocator_ = nullptr;
+    own_allocator_ = false;
+    buf_ = nullptr;
+    reserved_ = 0;
+    cur_ = nullptr;
+    size_ = 0;
+  }
+};
+
+// This is a minimal replication of std::vector<uint8_t> functionality,
+// except growing from higher to lower addresses. i.e push_back() inserts data
+// in the lowest address in the vector.
+// Since this vector leaves the lower part unused, we support a "scratch-pad"
+// that can be stored there for temporary data, to share the allocated space.
+// Essentially, this supports 2 std::vectors in a single buffer.
+class vector_downward {
+ public:
+  explicit vector_downward(size_t initial_size,
+                           Allocator *allocator,
+                           bool own_allocator,
+                           size_t buffer_minalign)
+      : allocator_(allocator),
+        own_allocator_(own_allocator),
+        initial_size_(initial_size),
+        buffer_minalign_(buffer_minalign),
+        reserved_(0),
+        buf_(nullptr),
+        cur_(nullptr),
+        scratch_(nullptr) {}
+
+  // clang-format off
+  #if !defined(FLATBUFFERS_CPP98_STL)
+  vector_downward(vector_downward &&other)
+  #else
+  vector_downward(vector_downward &other)
+  #endif  // defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+    : allocator_(other.allocator_),
+      own_allocator_(other.own_allocator_),
+      initial_size_(other.initial_size_),
+      buffer_minalign_(other.buffer_minalign_),
+      reserved_(other.reserved_),
+      buf_(other.buf_),
+      cur_(other.cur_),
+      scratch_(other.scratch_) {
+    // No change in other.allocator_
+    // No change in other.initial_size_
+    // No change in other.buffer_minalign_
+    other.own_allocator_ = false;
+    other.reserved_ = 0;
+    other.buf_ = nullptr;
+    other.cur_ = nullptr;
+    other.scratch_ = nullptr;
+  }
+
+  // clang-format off
+  #if !defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+  vector_downward &operator=(vector_downward &&other) {
+    // Move construct a temporary and swap idiom
+    vector_downward temp(std::move(other));
+    swap(temp);
+    return *this;
+  }
+  // clang-format off
+  #endif  // defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+
+  ~vector_downward() {
+    clear_buffer();
+    clear_allocator();
+  }
+
+  void reset() {
+    clear_buffer();
+    clear();
+  }
+
+  void clear() {
+    if (buf_) {
+      cur_ = buf_ + reserved_;
+    } else {
+      reserved_ = 0;
+      cur_ = nullptr;
+    }
+    clear_scratch();
+  }
+
+  void clear_scratch() {
+    scratch_ = buf_;
+  }
+
+  void clear_allocator() {
+    if (own_allocator_ && allocator_) { delete allocator_; }
+    allocator_ = nullptr;
+    own_allocator_ = false;
+  }
+
+  void clear_buffer() {
+    if (buf_) Deallocate(allocator_, buf_, reserved_);
+    buf_ = nullptr;
+  }
+
+  // Relinquish the pointer to the caller.
+  uint8_t *release_raw(size_t &allocated_bytes, size_t &offset) {
+    auto *buf = buf_;
+    allocated_bytes = reserved_;
+    offset = static_cast<size_t>(cur_ - buf_);
+
+    // release_raw only relinquishes the buffer ownership.
+    // Does not deallocate or reset the allocator. Destructor will do that.
+    buf_ = nullptr;
+    clear();
+    return buf;
+  }
+
+  // Relinquish the pointer to the caller.
+  DetachedBuffer release() {
+    // allocator ownership (if any) is transferred to DetachedBuffer.
+    DetachedBuffer fb(allocator_, own_allocator_, buf_, reserved_, cur_,
+                      size());
+    if (own_allocator_) {
+      allocator_ = nullptr;
+      own_allocator_ = false;
+    }
+    buf_ = nullptr;
+    clear();
+    return fb;
+  }
+
+  size_t ensure_space(size_t len) {
+    FLATBUFFERS_ASSERT(cur_ >= scratch_ && scratch_ >= buf_);
+    if (len > static_cast<size_t>(cur_ - scratch_)) { reallocate(len); }
+    // Beyond this, signed offsets may not have enough range:
+    // (FlatBuffers > 2GB not supported).
+    FLATBUFFERS_ASSERT(size() < FLATBUFFERS_MAX_BUFFER_SIZE);
+    return len;
+  }
+
+  inline uint8_t *make_space(size_t len) {
+    size_t space = ensure_space(len);
+    cur_ -= space;
+    return cur_;
+  }
+
+  // Returns nullptr if using the DefaultAllocator.
+  Allocator *get_custom_allocator() { return allocator_; }
+
+  uoffset_t size() const {
+    return static_cast<uoffset_t>(reserved_ - (cur_ - buf_));
+  }
+
+  uoffset_t scratch_size() const {
+    return static_cast<uoffset_t>(scratch_ - buf_);
+  }
+
+  size_t capacity() const { return reserved_; }
+
+  uint8_t *data() const {
+    FLATBUFFERS_ASSERT(cur_);
+    return cur_;
+  }
+
+  uint8_t *scratch_data() const {
+    FLATBUFFERS_ASSERT(buf_);
+    return buf_;
+  }
+
+  uint8_t *scratch_end() const {
+    FLATBUFFERS_ASSERT(scratch_);
+    return scratch_;
+  }
+
+  uint8_t *data_at(size_t offset) const { return buf_ + reserved_ - offset; }
+
+  void push(const uint8_t *bytes, size_t num) {
+    memcpy(make_space(num), bytes, num);
+  }
+
+  // Specialized version of push() that avoids memcpy call for small data.
+  template<typename T> void push_small(const T &little_endian_t) {
+    make_space(sizeof(T));
+    *reinterpret_cast<T *>(cur_) = little_endian_t;
+  }
+
+  template<typename T> void scratch_push_small(const T &t) {
+    ensure_space(sizeof(T));
+    *reinterpret_cast<T *>(scratch_) = t;
+    scratch_ += sizeof(T);
+  }
+
+  // fill() is most frequently called with small byte counts (<= 4),
+  // which is why we're using loops rather than calling memset.
+  void fill(size_t zero_pad_bytes) {
+    make_space(zero_pad_bytes);
+    for (size_t i = 0; i < zero_pad_bytes; i++) cur_[i] = 0;
+  }
+
+  // Version for when we know the size is larger.
+  void fill_big(size_t zero_pad_bytes) {
+    memset(make_space(zero_pad_bytes), 0, zero_pad_bytes);
+  }
+
+  void pop(size_t bytes_to_remove) { cur_ += bytes_to_remove; }
+  void scratch_pop(size_t bytes_to_remove) { scratch_ -= bytes_to_remove; }
+
+  void swap(vector_downward &other) {
+    using std::swap;
+    swap(allocator_, other.allocator_);
+    swap(own_allocator_, other.own_allocator_);
+    swap(initial_size_, other.initial_size_);
+    swap(buffer_minalign_, other.buffer_minalign_);
+    swap(reserved_, other.reserved_);
+    swap(buf_, other.buf_);
+    swap(cur_, other.cur_);
+    swap(scratch_, other.scratch_);
+  }
+
+  void swap_allocator(vector_downward &other) {
+    using std::swap;
+    swap(allocator_, other.allocator_);
+    swap(own_allocator_, other.own_allocator_);
+  }
+
+ private:
+  // You shouldn't really be copying instances of this class.
+  FLATBUFFERS_DELETE_FUNC(vector_downward(const vector_downward &))
+  FLATBUFFERS_DELETE_FUNC(vector_downward &operator=(const vector_downward &))
+
+  Allocator *allocator_;
+  bool own_allocator_;
+  size_t initial_size_;
+  size_t buffer_minalign_;
+  size_t reserved_;
+  uint8_t *buf_;
+  uint8_t *cur_;  // Points at location between empty (below) and used (above).
+  uint8_t *scratch_;  // Points to the end of the scratchpad in use.
+
+  void reallocate(size_t len) {
+    auto old_reserved = reserved_;
+    auto old_size = size();
+    auto old_scratch_size = scratch_size();
+    reserved_ += (std::max)(len,
+                            old_reserved ? old_reserved / 2 : initial_size_);
+    reserved_ = (reserved_ + buffer_minalign_ - 1) & ~(buffer_minalign_ - 1);
+    if (buf_) {
+      buf_ = ReallocateDownward(allocator_, buf_, old_reserved, reserved_,
+                                old_size, old_scratch_size);
+    } else {
+      buf_ = Allocate(allocator_, reserved_);
+    }
+    cur_ = buf_ + reserved_ - old_size;
+    scratch_ = buf_ + old_scratch_size;
+  }
+};
+
+// Converts a Field ID to a virtual table offset.
+inline voffset_t FieldIndexToOffset(voffset_t field_id) {
+  // Should correspond to what EndTable() below builds up.
+  const int fixed_fields = 2;  // Vtable size and Object Size.
+  return static_cast<voffset_t>((field_id + fixed_fields) * sizeof(voffset_t));
+}
+
+template<typename T, typename Alloc>
+const T *data(const std::vector<T, Alloc> &v) {
+  return v.empty() ? nullptr : &v.front();
+}
+template<typename T, typename Alloc> T *data(std::vector<T, Alloc> &v) {
+  return v.empty() ? nullptr : &v.front();
+}
+
+/// @endcond
+
+/// @addtogroup flatbuffers_cpp_api
+/// @{
+/// @class FlatBufferBuilder
+/// @brief Helper class to hold data needed in creation of a FlatBuffer.
+/// To serialize data, you typically call one of the `Create*()` functions in
+/// the generated code, which in turn call a sequence of `StartTable`/
+/// `PushElement`/`AddElement`/`EndTable`, or the builtin `CreateString`/
+/// `CreateVector` functions. Do this is depth-first order to build up a tree to
+/// the root. `Finish()` wraps up the buffer ready for transport.
+class FlatBufferBuilder {
+ public:
+  /// @brief Default constructor for FlatBufferBuilder.
+  /// @param[in] initial_size The initial size of the buffer, in bytes. Defaults
+  /// to `1024`.
+  /// @param[in] allocator An `Allocator` to use. If null will use
+  /// `DefaultAllocator`.
+  /// @param[in] own_allocator Whether the builder/vector should own the
+  /// allocator. Defaults to / `false`.
+  /// @param[in] buffer_minalign Force the buffer to be aligned to the given
+  /// minimum alignment upon reallocation. Only needed if you intend to store
+  /// types with custom alignment AND you wish to read the buffer in-place
+  /// directly after creation.
+  explicit FlatBufferBuilder(size_t initial_size = 1024,
+                             Allocator *allocator = nullptr,
+                             bool own_allocator = false,
+                             size_t buffer_minalign =
+                                 AlignOf<largest_scalar_t>())
+      : buf_(initial_size, allocator, own_allocator, buffer_minalign),
+        num_field_loc(0),
+        max_voffset_(0),
+        nested(false),
+        finished(false),
+        minalign_(1),
+        force_defaults_(false),
+        dedup_vtables_(true),
+        string_pool(nullptr) {
+    EndianCheck();
+  }
+
+  // clang-format off
+  /// @brief Move constructor for FlatBufferBuilder.
+  #if !defined(FLATBUFFERS_CPP98_STL)
+  FlatBufferBuilder(FlatBufferBuilder &&other)
+  #else
+  FlatBufferBuilder(FlatBufferBuilder &other)
+  #endif  // #if !defined(FLATBUFFERS_CPP98_STL)
+    : buf_(1024, nullptr, false, AlignOf<largest_scalar_t>()),
+      num_field_loc(0),
+      max_voffset_(0),
+      nested(false),
+      finished(false),
+      minalign_(1),
+      force_defaults_(false),
+      dedup_vtables_(true),
+      string_pool(nullptr) {
+    EndianCheck();
+    // Default construct and swap idiom.
+    // Lack of delegating constructors in vs2010 makes it more verbose than needed.
+    Swap(other);
+  }
+  // clang-format on
+
+  // clang-format off
+  #if !defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+  /// @brief Move assignment operator for FlatBufferBuilder.
+  FlatBufferBuilder &operator=(FlatBufferBuilder &&other) {
+    // Move construct a temporary and swap idiom
+    FlatBufferBuilder temp(std::move(other));
+    Swap(temp);
+    return *this;
+  }
+  // clang-format off
+  #endif  // defined(FLATBUFFERS_CPP98_STL)
+  // clang-format on
+
+  void Swap(FlatBufferBuilder &other) {
+    using std::swap;
+    buf_.swap(other.buf_);
+    swap(num_field_loc, other.num_field_loc);
+    swap(max_voffset_, other.max_voffset_);
+    swap(nested, other.nested);
+    swap(finished, other.finished);
+    swap(minalign_, other.minalign_);
+    swap(force_defaults_, other.force_defaults_);
+    swap(dedup_vtables_, other.dedup_vtables_);
+    swap(string_pool, other.string_pool);
+  }
+
+  ~FlatBufferBuilder() {
+    if (string_pool) delete string_pool;
+  }
+
+  void Reset() {
+    Clear();       // clear builder state
+    buf_.reset();  // deallocate buffer
+  }
+
+  /// @brief Reset all the state in this FlatBufferBuilder so it can be reused
+  /// to construct another buffer.
+  void Clear() {
+    ClearOffsets();
+    buf_.clear();
+    nested = false;
+    finished = false;
+    minalign_ = 1;
+    if (string_pool) string_pool->clear();
+  }
+
+  /// @brief The current size of the serialized buffer, counting from the end.
+  /// @return Returns an `uoffset_t` with the current size of the buffer.
+  uoffset_t GetSize() const { return buf_.size(); }
+
+  /// @brief Get the serialized buffer (after you call `Finish()`).
+  /// @return Returns an `uint8_t` pointer to the FlatBuffer data inside the
+  /// buffer.
+  uint8_t *GetBufferPointer() const {
+    Finished();
+    return buf_.data();
+  }
+
+  /// @brief Get a pointer to an unfinished buffer.
+  /// @return Returns a `uint8_t` pointer to the unfinished buffer.
+  uint8_t *GetCurrentBufferPointer() const { return buf_.data(); }
+
+  /// @brief Get the released pointer to the serialized buffer.
+  /// @warning Do NOT attempt to use this FlatBufferBuilder afterwards!
+  /// @return A `FlatBuffer` that owns the buffer and its allocator and
+  /// behaves similar to a `unique_ptr` with a deleter.
+  FLATBUFFERS_ATTRIBUTE(deprecated("use Release() instead")) DetachedBuffer
+  ReleaseBufferPointer() {
+    Finished();
+    return buf_.release();
+  }
+
+  /// @brief Get the released DetachedBuffer.
+  /// @return A `DetachedBuffer` that owns the buffer and its allocator.
+  DetachedBuffer Release() {
+    Finished();
+    return buf_.release();
+  }
+
+  /// @brief Get the released pointer to the serialized buffer.
+  /// @param The size of the memory block containing
+  /// the serialized `FlatBuffer`.
+  /// @param The offset from the released pointer where the finished
+  /// `FlatBuffer` starts.
+  /// @return A raw pointer to the start of the memory block containing
+  /// the serialized `FlatBuffer`.
+  /// @remark If the allocator is owned, it gets deleted when the destructor is called..
+  uint8_t *ReleaseRaw(size_t &size, size_t &offset) {
+    Finished();
+    return buf_.release_raw(size, offset);
+  }
+
+  /// @brief get the minimum alignment this buffer needs to be accessed
+  /// properly. This is only known once all elements have been written (after
+  /// you call Finish()). You can use this information if you need to embed
+  /// a FlatBuffer in some other buffer, such that you can later read it
+  /// without first having to copy it into its own buffer.
+  size_t GetBufferMinAlignment() {
+    Finished();
+    return minalign_;
+  }
+
+  /// @cond FLATBUFFERS_INTERNAL
+  void Finished() const {
+    // If you get this assert, you're attempting to get access a buffer
+    // which hasn't been finished yet. Be sure to call
+    // FlatBufferBuilder::Finish with your root table.
+    // If you really need to access an unfinished buffer, call
+    // GetCurrentBufferPointer instead.
+    FLATBUFFERS_ASSERT(finished);
+  }
+  /// @endcond
+
+  /// @brief In order to save space, fields that are set to their default value
+  /// don't get serialized into the buffer.
+  /// @param[in] bool fd When set to `true`, always serializes default values that are set.
+  /// Optional fields which are not set explicitly, will still not be serialized.
+  void ForceDefaults(bool fd) { force_defaults_ = fd; }
+
+  /// @brief By default vtables are deduped in order to save space.
+  /// @param[in] bool dedup When set to `true`, dedup vtables.
+  void DedupVtables(bool dedup) { dedup_vtables_ = dedup; }
+
+  /// @cond FLATBUFFERS_INTERNAL
+  void Pad(size_t num_bytes) { buf_.fill(num_bytes); }
+
+  void TrackMinAlign(size_t elem_size) {
+    if (elem_size > minalign_) minalign_ = elem_size;
+  }
+
+  void Align(size_t elem_size) {
+    TrackMinAlign(elem_size);
+    buf_.fill(PaddingBytes(buf_.size(), elem_size));
+  }
+
+  void PushFlatBuffer(const uint8_t *bytes, size_t size) {
+    PushBytes(bytes, size);
+    finished = true;
+  }
+
+  void PushBytes(const uint8_t *bytes, size_t size) { buf_.push(bytes, size); }
+
+  void PopBytes(size_t amount) { buf_.pop(amount); }
+
+  template<typename T> void AssertScalarT() {
+    // The code assumes power of 2 sizes and endian-swap-ability.
+    static_assert(flatbuffers::is_scalar<T>::value, "T must be a scalar type");
+  }
+
+  // Write a single aligned scalar to the buffer
+  template<typename T> uoffset_t PushElement(T element) {
+    AssertScalarT<T>();
+    T litle_endian_element = EndianScalar(element);
+    Align(sizeof(T));
+    buf_.push_small(litle_endian_element);
+    return GetSize();
+  }
+
+  template<typename T> uoffset_t PushElement(Offset<T> off) {
+    // Special case for offsets: see ReferTo below.
+    return PushElement(ReferTo(off.o));
+  }
+
+  // When writing fields, we track where they are, so we can create correct
+  // vtables later.
+  void TrackField(voffset_t field, uoffset_t off) {
+    FieldLoc fl = { off, field };
+    buf_.scratch_push_small(fl);
+    num_field_loc++;
+    max_voffset_ = (std::max)(max_voffset_, field);
+  }
+
+  // Like PushElement, but additionally tracks the field this represents.
+  template<typename T> void AddElement(voffset_t field, T e, T def) {
+    // We don't serialize values equal to the default.
+    if (IsTheSameAs(e, def) && !force_defaults_) return;
+    auto off = PushElement(e);
+    TrackField(field, off);
+  }
+
+  template<typename T> void AddOffset(voffset_t field, Offset<T> off) {
+    if (off.IsNull()) return;  // Don't store.
+    AddElement(field, ReferTo(off.o), static_cast<uoffset_t>(0));
+  }
+
+  template<typename T> void AddStruct(voffset_t field, const T *structptr) {
+    if (!structptr) return;  // Default, don't store.
+    Align(AlignOf<T>());
+    buf_.push_small(*structptr);
+    TrackField(field, GetSize());
+  }
+
+  void AddStructOffset(voffset_t field, uoffset_t off) {
+    TrackField(field, off);
+  }
+
+  // Offsets initially are relative to the end of the buffer (downwards).
+  // This function converts them to be relative to the current location
+  // in the buffer (when stored here), pointing upwards.
+  uoffset_t ReferTo(uoffset_t off) {
+    // Align to ensure GetSize() below is correct.
+    Align(sizeof(uoffset_t));
+    // Offset must refer to something already in buffer.
+    FLATBUFFERS_ASSERT(off && off <= GetSize());
+    return GetSize() - off + static_cast<uoffset_t>(sizeof(uoffset_t));
+  }
+
+  void NotNested() {
+    // If you hit this, you're trying to construct a Table/Vector/String
+    // during the construction of its parent table (between the MyTableBuilder
+    // and table.Finish().
+    // Move the creation of these sub-objects to above the MyTableBuilder to
+    // not get this assert.
+    // Ignoring this assert may appear to work in simple cases, but the reason
+    // it is here is that storing objects in-line may cause vtable offsets
+    // to not fit anymore. It also leads to vtable duplication.
+    FLATBUFFERS_ASSERT(!nested);
+    // If you hit this, fields were added outside the scope of a table.
+    FLATBUFFERS_ASSERT(!num_field_loc);
+  }
+
+  // From generated code (or from the parser), we call StartTable/EndTable
+  // with a sequence of AddElement calls in between.
+  uoffset_t StartTable() {
+    NotNested();
+    nested = true;
+    return GetSize();
+  }
+
+  // This finishes one serialized object by generating the vtable if it's a
+  // table, comparing it against existing vtables, and writing the
+  // resulting vtable offset.
+  uoffset_t EndTable(uoffset_t start) {
+    // If you get this assert, a corresponding StartTable wasn't called.
+    FLATBUFFERS_ASSERT(nested);
+    // Write the vtable offset, which is the start of any Table.
+    // We fill it's value later.
+    auto vtableoffsetloc = PushElement<soffset_t>(0);
+    // Write a vtable, which consists entirely of voffset_t elements.
+    // It starts with the number of offsets, followed by a type id, followed
+    // by the offsets themselves. In reverse:
+    // Include space for the last offset and ensure empty tables have a
+    // minimum size.
+    max_voffset_ =
+        (std::max)(static_cast<voffset_t>(max_voffset_ + sizeof(voffset_t)),
+                   FieldIndexToOffset(0));
+    buf_.fill_big(max_voffset_);
+    auto table_object_size = vtableoffsetloc - start;
+    // Vtable use 16bit offsets.
+    FLATBUFFERS_ASSERT(table_object_size < 0x10000);
+    WriteScalar<voffset_t>(buf_.data() + sizeof(voffset_t),
+                           static_cast<voffset_t>(table_object_size));
+    WriteScalar<voffset_t>(buf_.data(), max_voffset_);
+    // Write the offsets into the table
+    for (auto it = buf_.scratch_end() - num_field_loc * sizeof(FieldLoc);
+         it < buf_.scratch_end(); it += sizeof(FieldLoc)) {
+      auto field_location = reinterpret_cast<FieldLoc *>(it);
+      auto pos = static_cast<voffset_t>(vtableoffsetloc - field_location->off);
+      // If this asserts, it means you've set a field twice.
+      FLATBUFFERS_ASSERT(
+          !ReadScalar<voffset_t>(buf_.data() + field_location->id));
+      WriteScalar<voffset_t>(buf_.data() + field_location->id, pos);
+    }
+    ClearOffsets();
+    auto vt1 = reinterpret_cast<voffset_t *>(buf_.data());
+    auto vt1_size = ReadScalar<voffset_t>(vt1);
+    auto vt_use = GetSize();
+    // See if we already have generated a vtable with this exact same
+    // layout before. If so, make it point to the old one, remove this one.
+    if (dedup_vtables_) {
+      for (auto it = buf_.scratch_data(); it < buf_.scratch_end();
+           it += sizeof(uoffset_t)) {
+        auto vt_offset_ptr = reinterpret_cast<uoffset_t *>(it);
+        auto vt2 = reinterpret_cast<voffset_t *>(buf_.data_at(*vt_offset_ptr));
+        auto vt2_size = *vt2;
+        if (vt1_size != vt2_size || 0 != memcmp(vt2, vt1, vt1_size)) continue;
+        vt_use = *vt_offset_ptr;
+        buf_.pop(GetSize() - vtableoffsetloc);
+        break;
+      }
+    }
+    // If this is a new vtable, remember it.
+    if (vt_use == GetSize()) { buf_.scratch_push_small(vt_use); }
+    // Fill the vtable offset we created above.
+    // The offset points from the beginning of the object to where the
+    // vtable is stored.
+    // Offsets default direction is downward in memory for future format
+    // flexibility (storing all vtables at the start of the file).
+    WriteScalar(buf_.data_at(vtableoffsetloc),
+                static_cast<soffset_t>(vt_use) -
+                    static_cast<soffset_t>(vtableoffsetloc));
+
+    nested = false;
+    return vtableoffsetloc;
+  }
+
+  FLATBUFFERS_ATTRIBUTE(deprecated("call the version above instead"))
+  uoffset_t EndTable(uoffset_t start, voffset_t /*numfields*/) {
+    return EndTable(start);
+  }
+
+  // This checks a required field has been set in a given table that has
+  // just been constructed.
+  template<typename T> void Required(Offset<T> table, voffset_t field);
+
+  uoffset_t StartStruct(size_t alignment) {
+    Align(alignment);
+    return GetSize();
+  }
+
+  uoffset_t EndStruct() { return GetSize(); }
+
+  void ClearOffsets() {
+    buf_.scratch_pop(num_field_loc * sizeof(FieldLoc));
+    num_field_loc = 0;
+    max_voffset_ = 0;
+  }
+
+  // Aligns such that when "len" bytes are written, an object can be written
+  // after it with "alignment" without padding.
+  void PreAlign(size_t len, size_t alignment) {
+    TrackMinAlign(alignment);
+    buf_.fill(PaddingBytes(GetSize() + len, alignment));
+  }
+  template<typename T> void PreAlign(size_t len) {
+    AssertScalarT<T>();
+    PreAlign(len, sizeof(T));
+  }
+  /// @endcond
+
+  /// @brief Store a string in the buffer, which can contain any binary data.
+  /// @param[in] str A const char pointer to the data to be stored as a string.
+  /// @param[in] len The number of bytes that should be stored from `str`.
+  /// @return Returns the offset in the buffer where the string starts.
+  Offset<String> CreateString(const char *str, size_t len) {
+    NotNested();
+    PreAlign<uoffset_t>(len + 1);  // Always 0-terminated.
+    buf_.fill(1);
+    PushBytes(reinterpret_cast<const uint8_t *>(str), len);
+    PushElement(static_cast<uoffset_t>(len));
+    return Offset<String>(GetSize());
+  }
+
+  /// @brief Store a string in the buffer, which is null-terminated.
+  /// @param[in] str A const char pointer to a C-string to add to the buffer.
+  /// @return Returns the offset in the buffer where the string starts.
+  Offset<String> CreateString(const char *str) {
+    return CreateString(str, strlen(str));
+  }
+
+  /// @brief Store a string in the buffer, which is null-terminated.
+  /// @param[in] str A char pointer to a C-string to add to the buffer.
+  /// @return Returns the offset in the buffer where the string starts.
+  Offset<String> CreateString(char *str) {
+    return CreateString(str, strlen(str));
+  }
+
+  /// @brief Store a string in the buffer, which can contain any binary data.
+  /// @param[in] str A const reference to a std::string to store in the buffer.
+  /// @return Returns the offset in the buffer where the string starts.
+  Offset<String> CreateString(const std::string &str) {
+    return CreateString(str.c_str(), str.length());
+  }
+
+  // clang-format off
+  #ifdef FLATBUFFERS_HAS_STRING_VIEW
+  /// @brief Store a string in the buffer, which can contain any binary data.
+  /// @param[in] str A const string_view to copy in to the buffer.
+  /// @return Returns the offset in the buffer where the string starts.
+  Offset<String> CreateString(flatbuffers::string_view str) {
+    return CreateString(str.data(), str.size());
+  }
+  #endif // FLATBUFFERS_HAS_STRING_VIEW
+  // clang-format on
+
+  /// @brief Store a string in the buffer, which can contain any binary data.
+  /// @param[in] str A const pointer to a `String` struct to add to the buffer.
+  /// @return Returns the offset in the buffer where the string starts
+  Offset<String> CreateString(const String *str) {
+    return str ? CreateString(str->c_str(), str->size()) : 0;
+  }
+
+  /// @brief Store a string in the buffer, which can contain any binary data.
+  /// @param[in] str A const reference to a std::string like type with support
+  /// of T::c_str() and T::length() to store in the buffer.
+  /// @return Returns the offset in the buffer where the string starts.
+  template<typename T> Offset<String> CreateString(const T &str) {
+    return CreateString(str.c_str(), str.length());
+  }
+
+  /// @brief Store a string in the buffer, which can contain any binary data.
+  /// If a string with this exact contents has already been serialized before,
+  /// instead simply returns the offset of the existing string.
+  /// @param[in] str A const char pointer to the data to be stored as a string.
+  /// @param[in] len The number of bytes that should be stored from `str`.
+  /// @return Returns the offset in the buffer where the string starts.
+  Offset<String> CreateSharedString(const char *str, size_t len) {
+    if (!string_pool)
+      string_pool = new StringOffsetMap(StringOffsetCompare(buf_));
+    auto size_before_string = buf_.size();
+    // Must first serialize the string, since the set is all offsets into
+    // buffer.
+    auto off = CreateString(str, len);
+    auto it = string_pool->find(off);
+    // If it exists we reuse existing serialized data!
+    if (it != string_pool->end()) {
+      // We can remove the string we serialized.
+      buf_.pop(buf_.size() - size_before_string);
+      return *it;
+    }
+    // Record this string for future use.
+    string_pool->insert(off);
+    return off;
+  }
+
+  /// @brief Store a string in the buffer, which null-terminated.
+  /// If a string with this exact contents has already been serialized before,
+  /// instead simply returns the offset of the existing string.
+  /// @param[in] str A const char pointer to a C-string to add to the buffer.
+  /// @return Returns the offset in the buffer where the string starts.
+  Offset<String> CreateSharedString(const char *str) {
+    return CreateSharedString(str, strlen(str));
+  }
+
+  /// @brief Store a string in the buffer, which can contain any binary data.
+  /// If a string with this exact contents has already been serialized before,
+  /// instead simply returns the offset of the existing string.
+  /// @param[in] str A const reference to a std::string to store in the buffer.
+  /// @return Returns the offset in the buffer where the string starts.
+  Offset<String> CreateSharedString(const std::string &str) {
+    return CreateSharedString(str.c_str(), str.length());
+  }
+
+  /// @brief Store a string in the buffer, which can contain any binary data.
+  /// If a string with this exact contents has already been serialized before,
+  /// instead simply returns the offset of the existing string.
+  /// @param[in] str A const pointer to a `String` struct to add to the buffer.
+  /// @return Returns the offset in the buffer where the string starts
+  Offset<String> CreateSharedString(const String *str) {
+    return CreateSharedString(str->c_str(), str->size());
+  }
+
+  /// @cond FLATBUFFERS_INTERNAL
+  uoffset_t EndVector(size_t len) {
+    FLATBUFFERS_ASSERT(nested);  // Hit if no corresponding StartVector.
+    nested = false;
+    return PushElement(static_cast<uoffset_t>(len));
+  }
+
+  void StartVector(size_t len, size_t elemsize) {
+    NotNested();
+    nested = true;
+    PreAlign<uoffset_t>(len * elemsize);
+    PreAlign(len * elemsize, elemsize);  // Just in case elemsize > uoffset_t.
+  }
+
+  // Call this right before StartVector/CreateVector if you want to force the
+  // alignment to be something different than what the element size would
+  // normally dictate.
+  // This is useful when storing a nested_flatbuffer in a vector of bytes,
+  // or when storing SIMD floats, etc.
+  void ForceVectorAlignment(size_t len, size_t elemsize, size_t alignment) {
+    PreAlign(len * elemsize, alignment);
+  }
+
+  // Similar to ForceVectorAlignment but for String fields.
+  void ForceStringAlignment(size_t len, size_t alignment) {
+    PreAlign((len + 1) * sizeof(char), alignment);
+  }
+
+  /// @endcond
+
+  /// @brief Serialize an array into a FlatBuffer `vector`.
+  /// @tparam T The data type of the array elements.
+  /// @param[in] v A pointer to the array of type `T` to serialize into the
+  /// buffer as a `vector`.
+  /// @param[in] len The number of elements to serialize.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T> Offset<Vector<T>> CreateVector(const T *v, size_t len) {
+    // If this assert hits, you're specifying a template argument that is
+    // causing the wrong overload to be selected, remove it.
+    AssertScalarT<T>();
+    StartVector(len, sizeof(T));
+    // clang-format off
+    #if FLATBUFFERS_LITTLEENDIAN
+      PushBytes(reinterpret_cast<const uint8_t *>(v), len * sizeof(T));
+    #else
+      if (sizeof(T) == 1) {
+        PushBytes(reinterpret_cast<const uint8_t *>(v), len);
+      } else {
+        for (auto i = len; i > 0; ) {
+          PushElement(v[--i]);
+        }
+      }
+    #endif
+    // clang-format on
+    return Offset<Vector<T>>(EndVector(len));
+  }
+
+  template<typename T>
+  Offset<Vector<Offset<T>>> CreateVector(const Offset<T> *v, size_t len) {
+    StartVector(len, sizeof(Offset<T>));
+    for (auto i = len; i > 0;) { PushElement(v[--i]); }
+    return Offset<Vector<Offset<T>>>(EndVector(len));
+  }
+
+  /// @brief Serialize a `std::vector` into a FlatBuffer `vector`.
+  /// @tparam T The data type of the `std::vector` elements.
+  /// @param v A const reference to the `std::vector` to serialize into the
+  /// buffer as a `vector`.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T> Offset<Vector<T>> CreateVector(const std::vector<T> &v) {
+    return CreateVector(data(v), v.size());
+  }
+
+  // vector<bool> may be implemented using a bit-set, so we can't access it as
+  // an array. Instead, read elements manually.
+  // Background: https://isocpp.org/blog/2012/11/on-vectorbool
+  Offset<Vector<uint8_t>> CreateVector(const std::vector<bool> &v) {
+    StartVector(v.size(), sizeof(uint8_t));
+    for (auto i = v.size(); i > 0;) {
+      PushElement(static_cast<uint8_t>(v[--i]));
+    }
+    return Offset<Vector<uint8_t>>(EndVector(v.size()));
+  }
+
+  // clang-format off
+  #ifndef FLATBUFFERS_CPP98_STL
+  /// @brief Serialize values returned by a function into a FlatBuffer `vector`.
+  /// This is a convenience function that takes care of iteration for you.
+  /// @tparam T The data type of the `std::vector` elements.
+  /// @param f A function that takes the current iteration 0..vector_size-1 and
+  /// returns any type that you can construct a FlatBuffers vector out of.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T> Offset<Vector<T>> CreateVector(size_t vector_size,
+      const std::function<T (size_t i)> &f) {
+    std::vector<T> elems(vector_size);
+    for (size_t i = 0; i < vector_size; i++) elems[i] = f(i);
+    return CreateVector(elems);
+  }
+  #endif
+  // clang-format on
+
+  /// @brief Serialize values returned by a function into a FlatBuffer `vector`.
+  /// This is a convenience function that takes care of iteration for you.
+  /// @tparam T The data type of the `std::vector` elements.
+  /// @param f A function that takes the current iteration 0..vector_size-1,
+  /// and the state parameter returning any type that you can construct a
+  /// FlatBuffers vector out of.
+  /// @param state State passed to f.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T, typename F, typename S>
+  Offset<Vector<T>> CreateVector(size_t vector_size, F f, S *state) {
+    std::vector<T> elems(vector_size);
+    for (size_t i = 0; i < vector_size; i++) elems[i] = f(i, state);
+    return CreateVector(elems);
+  }
+
+  /// @brief Serialize a `std::vector<std::string>` into a FlatBuffer `vector`.
+  /// This is a convenience function for a common case.
+  /// @param v A const reference to the `std::vector` to serialize into the
+  /// buffer as a `vector`.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  Offset<Vector<Offset<String>>> CreateVectorOfStrings(
+      const std::vector<std::string> &v) {
+    std::vector<Offset<String>> offsets(v.size());
+    for (size_t i = 0; i < v.size(); i++) offsets[i] = CreateString(v[i]);
+    return CreateVector(offsets);
+  }
+
+  /// @brief Serialize an array of structs into a FlatBuffer `vector`.
+  /// @tparam T The data type of the struct array elements.
+  /// @param[in] v A pointer to the array of type `T` to serialize into the
+  /// buffer as a `vector`.
+  /// @param[in] len The number of elements to serialize.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T>
+  Offset<Vector<const T *>> CreateVectorOfStructs(const T *v, size_t len) {
+    StartVector(len * sizeof(T) / AlignOf<T>(), AlignOf<T>());
+    PushBytes(reinterpret_cast<const uint8_t *>(v), sizeof(T) * len);
+    return Offset<Vector<const T *>>(EndVector(len));
+  }
+
+  /// @brief Serialize an array of native structs into a FlatBuffer `vector`.
+  /// @tparam T The data type of the struct array elements.
+  /// @tparam S The data type of the native struct array elements.
+  /// @param[in] v A pointer to the array of type `S` to serialize into the
+  /// buffer as a `vector`.
+  /// @param[in] len The number of elements to serialize.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T, typename S>
+  Offset<Vector<const T *>> CreateVectorOfNativeStructs(const S *v,
+                                                        size_t len) {
+    extern T Pack(const S &);
+    typedef T (*Pack_t)(const S &);
+    std::vector<T> vv(len);
+    std::transform(v, v + len, vv.begin(), static_cast<Pack_t&>(Pack));
+    return CreateVectorOfStructs<T>(vv.data(), vv.size());
+  }
+
+  // clang-format off
+  #ifndef FLATBUFFERS_CPP98_STL
+  /// @brief Serialize an array of structs into a FlatBuffer `vector`.
+  /// @tparam T The data type of the struct array elements.
+  /// @param[in] f A function that takes the current iteration 0..vector_size-1
+  /// and a pointer to the struct that must be filled.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  /// This is mostly useful when flatbuffers are generated with mutation
+  /// accessors.
+  template<typename T> Offset<Vector<const T *>> CreateVectorOfStructs(
+      size_t vector_size, const std::function<void(size_t i, T *)> &filler) {
+    T* structs = StartVectorOfStructs<T>(vector_size);
+    for (size_t i = 0; i < vector_size; i++) {
+      filler(i, structs);
+      structs++;
+    }
+    return EndVectorOfStructs<T>(vector_size);
+  }
+  #endif
+  // clang-format on
+
+  /// @brief Serialize an array of structs into a FlatBuffer `vector`.
+  /// @tparam T The data type of the struct array elements.
+  /// @param[in] f A function that takes the current iteration 0..vector_size-1,
+  /// a pointer to the struct that must be filled and the state argument.
+  /// @param[in] state Arbitrary state to pass to f.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  /// This is mostly useful when flatbuffers are generated with mutation
+  /// accessors.
+  template<typename T, typename F, typename S>
+  Offset<Vector<const T *>> CreateVectorOfStructs(size_t vector_size, F f,
+                                                  S *state) {
+    T *structs = StartVectorOfStructs<T>(vector_size);
+    for (size_t i = 0; i < vector_size; i++) {
+      f(i, structs, state);
+      structs++;
+    }
+    return EndVectorOfStructs<T>(vector_size);
+  }
+
+  /// @brief Serialize a `std::vector` of structs into a FlatBuffer `vector`.
+  /// @tparam T The data type of the `std::vector` struct elements.
+  /// @param[in]] v A const reference to the `std::vector` of structs to
+  /// serialize into the buffer as a `vector`.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T, typename Alloc>
+  Offset<Vector<const T *>> CreateVectorOfStructs(
+      const std::vector<T, Alloc> &v) {
+    return CreateVectorOfStructs(data(v), v.size());
+  }
+
+  /// @brief Serialize a `std::vector` of native structs into a FlatBuffer
+  /// `vector`.
+  /// @tparam T The data type of the `std::vector` struct elements.
+  /// @tparam S The data type of the `std::vector` native struct elements.
+  /// @param[in]] v A const reference to the `std::vector` of structs to
+  /// serialize into the buffer as a `vector`.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T, typename S>
+  Offset<Vector<const T *>> CreateVectorOfNativeStructs(
+      const std::vector<S> &v) {
+    return CreateVectorOfNativeStructs<T, S>(data(v), v.size());
+  }
+
+  /// @cond FLATBUFFERS_INTERNAL
+  template<typename T> struct StructKeyComparator {
+    bool operator()(const T &a, const T &b) const {
+      return a.KeyCompareLessThan(&b);
+    }
+
+   private:
+    StructKeyComparator &operator=(const StructKeyComparator &);
+  };
+  /// @endcond
+
+  /// @brief Serialize a `std::vector` of structs into a FlatBuffer `vector`
+  /// in sorted order.
+  /// @tparam T The data type of the `std::vector` struct elements.
+  /// @param[in]] v A const reference to the `std::vector` of structs to
+  /// serialize into the buffer as a `vector`.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T>
+  Offset<Vector<const T *>> CreateVectorOfSortedStructs(std::vector<T> *v) {
+    return CreateVectorOfSortedStructs(data(*v), v->size());
+  }
+
+  /// @brief Serialize a `std::vector` of native structs into a FlatBuffer
+  /// `vector` in sorted order.
+  /// @tparam T The data type of the `std::vector` struct elements.
+  /// @tparam S The data type of the `std::vector` native struct elements.
+  /// @param[in]] v A const reference to the `std::vector` of structs to
+  /// serialize into the buffer as a `vector`.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T, typename S>
+  Offset<Vector<const T *>> CreateVectorOfSortedNativeStructs(
+      std::vector<S> *v) {
+    return CreateVectorOfSortedNativeStructs<T, S>(data(*v), v->size());
+  }
+
+  /// @brief Serialize an array of structs into a FlatBuffer `vector` in sorted
+  /// order.
+  /// @tparam T The data type of the struct array elements.
+  /// @param[in] v A pointer to the array of type `T` to serialize into the
+  /// buffer as a `vector`.
+  /// @param[in] len The number of elements to serialize.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T>
+  Offset<Vector<const T *>> CreateVectorOfSortedStructs(T *v, size_t len) {
+    std::sort(v, v + len, StructKeyComparator<T>());
+    return CreateVectorOfStructs(v, len);
+  }
+
+  /// @brief Serialize an array of native structs into a FlatBuffer `vector` in
+  /// sorted order.
+  /// @tparam T The data type of the struct array elements.
+  /// @tparam S The data type of the native struct array elements.
+  /// @param[in] v A pointer to the array of type `S` to serialize into the
+  /// buffer as a `vector`.
+  /// @param[in] len The number of elements to serialize.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T, typename S>
+  Offset<Vector<const T *>> CreateVectorOfSortedNativeStructs(S *v,
+                                                              size_t len) {
+    extern T Pack(const S &);
+    typedef T (*Pack_t)(const S &);
+    std::vector<T> vv(len);
+    std::transform(v, v + len, vv.begin(), static_cast<Pack_t&>(Pack));
+    return CreateVectorOfSortedStructs<T>(vv, len);
+  }
+
+  /// @cond FLATBUFFERS_INTERNAL
+  template<typename T> struct TableKeyComparator {
+    TableKeyComparator(vector_downward &buf) : buf_(buf) {}
+    bool operator()(const Offset<T> &a, const Offset<T> &b) const {
+      auto table_a = reinterpret_cast<T *>(buf_.data_at(a.o));
+      auto table_b = reinterpret_cast<T *>(buf_.data_at(b.o));
+      return table_a->KeyCompareLessThan(table_b);
+    }
+    vector_downward &buf_;
+
+   private:
+    TableKeyComparator &operator=(const TableKeyComparator &);
+  };
+  /// @endcond
+
+  /// @brief Serialize an array of `table` offsets as a `vector` in the buffer
+  /// in sorted order.
+  /// @tparam T The data type that the offset refers to.
+  /// @param[in] v An array of type `Offset<T>` that contains the `table`
+  /// offsets to store in the buffer in sorted order.
+  /// @param[in] len The number of elements to store in the `vector`.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T>
+  Offset<Vector<Offset<T>>> CreateVectorOfSortedTables(Offset<T> *v,
+                                                       size_t len) {
+    std::sort(v, v + len, TableKeyComparator<T>(buf_));
+    return CreateVector(v, len);
+  }
+
+  /// @brief Serialize an array of `table` offsets as a `vector` in the buffer
+  /// in sorted order.
+  /// @tparam T The data type that the offset refers to.
+  /// @param[in] v An array of type `Offset<T>` that contains the `table`
+  /// offsets to store in the buffer in sorted order.
+  /// @return Returns a typed `Offset` into the serialized data indicating
+  /// where the vector is stored.
+  template<typename T>
+  Offset<Vector<Offset<T>>> CreateVectorOfSortedTables(
+      std::vector<Offset<T>> *v) {
+    return CreateVectorOfSortedTables(data(*v), v->size());
+  }
+
+  /// @brief Specialized version of `CreateVector` for non-copying use cases.
+  /// Write the data any time later to the returned buffer pointer `buf`.
+  /// @param[in] len The number of elements to store in the `vector`.
+  /// @param[in] elemsize The size of each element in the `vector`.
+  /// @param[out] buf A pointer to a `uint8_t` pointer that can be
+  /// written to at a later time to serialize the data into a `vector`
+  /// in the buffer.
+  uoffset_t CreateUninitializedVector(size_t len, size_t elemsize,
+                                      uint8_t **buf) {
+    NotNested();
+    StartVector(len, elemsize);
+    buf_.make_space(len * elemsize);
+    auto vec_start = GetSize();
+    auto vec_end = EndVector(len);
+    *buf = buf_.data_at(vec_start);
+    return vec_end;
+  }
+
+  /// @brief Specialized version of `CreateVector` for non-copying use cases.
+  /// Write the data any time later to the returned buffer pointer `buf`.
+  /// @tparam T The data type of the data that will be stored in the buffer
+  /// as a `vector`.
+  /// @param[in] len The number of elements to store in the `vector`.
+  /// @param[out] buf A pointer to a pointer of type `T` that can be
+  /// written to at a later time to serialize the data into a `vector`
+  /// in the buffer.
+  template<typename T>
+  Offset<Vector<T>> CreateUninitializedVector(size_t len, T **buf) {
+    AssertScalarT<T>();
+    return CreateUninitializedVector(len, sizeof(T),
+                                     reinterpret_cast<uint8_t **>(buf));
+  }
+
+  template<typename T>
+  Offset<Vector<const T*>> CreateUninitializedVectorOfStructs(size_t len, T **buf) {
+    return CreateUninitializedVector(len, sizeof(T),
+                                     reinterpret_cast<uint8_t **>(buf));
+  }
+
+
+  // @brief Create a vector of scalar type T given as input a vector of scalar
+  // type U, useful with e.g. pre "enum class" enums, or any existing scalar
+  // data of the wrong type.
+  template<typename T, typename U>
+  Offset<Vector<T>> CreateVectorScalarCast(const U *v, size_t len) {
+    AssertScalarT<T>();
+    AssertScalarT<U>();
+    StartVector(len, sizeof(T));
+    for (auto i = len; i > 0;) { PushElement(static_cast<T>(v[--i])); }
+    return Offset<Vector<T>>(EndVector(len));
+  }
+
+  /// @brief Write a struct by itself, typically to be part of a union.
+  template<typename T> Offset<const T *> CreateStruct(const T &structobj) {
+    NotNested();
+    Align(AlignOf<T>());
+    buf_.push_small(structobj);
+    return Offset<const T *>(GetSize());
+  }
+
+  /// @brief The length of a FlatBuffer file header.
+  static const size_t kFileIdentifierLength = 4;
+
+  /// @brief Finish serializing a buffer by writing the root offset.
+  /// @param[in] file_identifier If a `file_identifier` is given, the buffer
+  /// will be prefixed with a standard FlatBuffers file header.
+  template<typename T>
+  void Finish(Offset<T> root, const char *file_identifier = nullptr) {
+    Finish(root.o, file_identifier, false);
+  }
+
+  /// @brief Finish a buffer with a 32 bit size field pre-fixed (size of the
+  /// buffer following the size field). These buffers are NOT compatible
+  /// with standard buffers created by Finish, i.e. you can't call GetRoot
+  /// on them, you have to use GetSizePrefixedRoot instead.
+  /// All >32 bit quantities in this buffer will be aligned when the whole
+  /// size pre-fixed buffer is aligned.
+  /// These kinds of buffers are useful for creating a stream of FlatBuffers.
+  template<typename T>
+  void FinishSizePrefixed(Offset<T> root,
+                          const char *file_identifier = nullptr) {
+    Finish(root.o, file_identifier, true);
+  }
+
+  void SwapBufAllocator(FlatBufferBuilder &other) {
+    buf_.swap_allocator(other.buf_);
+  }
+
+protected:
+
+  // You shouldn't really be copying instances of this class.
+  FlatBufferBuilder(const FlatBufferBuilder &);
+  FlatBufferBuilder &operator=(const FlatBufferBuilder &);
+
+  void Finish(uoffset_t root, const char *file_identifier, bool size_prefix) {
+    NotNested();
+    buf_.clear_scratch();
+    // This will cause the whole buffer to be aligned.
+    PreAlign((size_prefix ? sizeof(uoffset_t) : 0) + sizeof(uoffset_t) +
+                 (file_identifier ? kFileIdentifierLength : 0),
+             minalign_);
+    if (file_identifier) {
+      FLATBUFFERS_ASSERT(strlen(file_identifier) == kFileIdentifierLength);
+      PushBytes(reinterpret_cast<const uint8_t *>(file_identifier),
+                kFileIdentifierLength);
+    }
+    PushElement(ReferTo(root));  // Location of root.
+    if (size_prefix) { PushElement(GetSize()); }
+    finished = true;
+  }
+
+  struct FieldLoc {
+    uoffset_t off;
+    voffset_t id;
+  };
+
+  vector_downward buf_;
+
+  // Accumulating offsets of table members while it is being built.
+  // We store these in the scratch pad of buf_, after the vtable offsets.
+  uoffset_t num_field_loc;
+  // Track how much of the vtable is in use, so we can output the most compact
+  // possible vtable.
+  voffset_t max_voffset_;
+
+  // Ensure objects are not nested.
+  bool nested;
+
+  // Ensure the buffer is finished before it is being accessed.
+  bool finished;
+
+  size_t minalign_;
+
+  bool force_defaults_;  // Serialize values equal to their defaults anyway.
+
+  bool dedup_vtables_;
+
+  struct StringOffsetCompare {
+    StringOffsetCompare(const vector_downward &buf) : buf_(&buf) {}
+    bool operator()(const Offset<String> &a, const Offset<String> &b) const {
+      auto stra = reinterpret_cast<const String *>(buf_->data_at(a.o));
+      auto strb = reinterpret_cast<const String *>(buf_->data_at(b.o));
+      return StringLessThan(stra->data(), stra->size(),
+                            strb->data(), strb->size());
+    }
+    const vector_downward *buf_;
+  };
+
+  // For use with CreateSharedString. Instantiated on first use only.
+  typedef std::set<Offset<String>, StringOffsetCompare> StringOffsetMap;
+  StringOffsetMap *string_pool;
+
+ private:
+  // Allocates space for a vector of structures.
+  // Must be completed with EndVectorOfStructs().
+  template<typename T> T *StartVectorOfStructs(size_t vector_size) {
+    StartVector(vector_size * sizeof(T) / AlignOf<T>(), AlignOf<T>());
+    return reinterpret_cast<T *>(buf_.make_space(vector_size * sizeof(T)));
+  }
+
+  // End the vector of structues in the flatbuffers.
+  // Vector should have previously be started with StartVectorOfStructs().
+  template<typename T>
+  Offset<Vector<const T *>> EndVectorOfStructs(size_t vector_size) {
+    return Offset<Vector<const T *>>(EndVector(vector_size));
+  }
+};
+/// @}
+
+/// @cond FLATBUFFERS_INTERNAL
+// Helpers to get a typed pointer to the root object contained in the buffer.
+template<typename T> T *GetMutableRoot(void *buf) {
+  EndianCheck();
+  return reinterpret_cast<T *>(
+      reinterpret_cast<uint8_t *>(buf) +
+      EndianScalar(*reinterpret_cast<uoffset_t *>(buf)));
+}
+
+template<typename T> const T *GetRoot(const void *buf) {
+  return GetMutableRoot<T>(const_cast<void *>(buf));
+}
+
+template<typename T> const T *GetSizePrefixedRoot(const void *buf) {
+  return GetRoot<T>(reinterpret_cast<const uint8_t *>(buf) + sizeof(uoffset_t));
+}
+
+/// Helpers to get a typed pointer to objects that are currently being built.
+/// @warning Creating new objects will lead to reallocations and invalidates
+/// the pointer!
+template<typename T>
+T *GetMutableTemporaryPointer(FlatBufferBuilder &fbb, Offset<T> offset) {
+  return reinterpret_cast<T *>(fbb.GetCurrentBufferPointer() + fbb.GetSize() -
+                               offset.o);
+}
+
+template<typename T>
+const T *GetTemporaryPointer(FlatBufferBuilder &fbb, Offset<T> offset) {
+  return GetMutableTemporaryPointer<T>(fbb, offset);
+}
+
+/// @brief Get a pointer to the the file_identifier section of the buffer.
+/// @return Returns a const char pointer to the start of the file_identifier
+/// characters in the buffer.  The returned char * has length
+/// 'flatbuffers::FlatBufferBuilder::kFileIdentifierLength'.
+/// This function is UNDEFINED for FlatBuffers whose schema does not include
+/// a file_identifier (likely points at padding or the start of a the root
+/// vtable).
+inline const char *GetBufferIdentifier(const void *buf, bool size_prefixed = false) {
+  return reinterpret_cast<const char *>(buf) +
+         ((size_prefixed) ? 2 * sizeof(uoffset_t) : sizeof(uoffset_t));
+}
+
+// Helper to see if the identifier in a buffer has the expected value.
+inline bool BufferHasIdentifier(const void *buf, const char *identifier, bool size_prefixed = false) {
+  return strncmp(GetBufferIdentifier(buf, size_prefixed), identifier,
+                 FlatBufferBuilder::kFileIdentifierLength) == 0;
+}
+
+// Helper class to verify the integrity of a FlatBuffer
+class Verifier FLATBUFFERS_FINAL_CLASS {
+ public:
+  Verifier(const uint8_t *buf, size_t buf_len, uoffset_t _max_depth = 64,
+           uoffset_t _max_tables = 1000000, bool _check_alignment = true)
+      : buf_(buf),
+        size_(buf_len),
+        depth_(0),
+        max_depth_(_max_depth),
+        num_tables_(0),
+        max_tables_(_max_tables),
+        upper_bound_(0),
+        check_alignment_(_check_alignment)
+  {
+    FLATBUFFERS_ASSERT(size_ < FLATBUFFERS_MAX_BUFFER_SIZE);
+  }
+
+  // Central location where any verification failures register.
+  bool Check(bool ok) const {
+    // clang-format off
+    #ifdef FLATBUFFERS_DEBUG_VERIFICATION_FAILURE
+      FLATBUFFERS_ASSERT(ok);
+    #endif
+    #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE
+      if (!ok)
+        upper_bound_ = 0;
+    #endif
+    // clang-format on
+    return ok;
+  }
+
+  // Verify any range within the buffer.
+  bool Verify(size_t elem, size_t elem_len) const {
+    // clang-format off
+    #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE
+      auto upper_bound = elem + elem_len;
+      if (upper_bound_ < upper_bound)
+        upper_bound_ =  upper_bound;
+    #endif
+    // clang-format on
+    return Check(elem_len < size_ && elem <= size_ - elem_len);
+  }
+
+  template<typename T> bool VerifyAlignment(size_t elem) const {
+    return (elem & (sizeof(T) - 1)) == 0 || !check_alignment_;
+  }
+
+  // Verify a range indicated by sizeof(T).
+  template<typename T> bool Verify(size_t elem) const {
+    return VerifyAlignment<T>(elem) && Verify(elem, sizeof(T));
+  }
+
+  // Verify relative to a known-good base pointer.
+  bool Verify(const uint8_t *base, voffset_t elem_off, size_t elem_len) const {
+    return Verify(static_cast<size_t>(base - buf_) + elem_off, elem_len);
+  }
+
+  template<typename T> bool Verify(const uint8_t *base, voffset_t elem_off)
+      const {
+    return Verify(static_cast<size_t>(base - buf_) + elem_off, sizeof(T));
+  }
+
+  // Verify a pointer (may be NULL) of a table type.
+  template<typename T> bool VerifyTable(const T *table) {
+    return !table || table->Verify(*this);
+  }
+
+  // Verify a pointer (may be NULL) of any vector type.
+  template<typename T> bool VerifyVector(const Vector<T> *vec) const {
+    return !vec || VerifyVectorOrString(reinterpret_cast<const uint8_t *>(vec),
+                                        sizeof(T));
+  }
+
+  // Verify a pointer (may be NULL) of a vector to struct.
+  template<typename T> bool VerifyVector(const Vector<const T *> *vec) const {
+    return VerifyVector(reinterpret_cast<const Vector<T> *>(vec));
+  }
+
+  // Verify a pointer (may be NULL) to string.
+  bool VerifyString(const String *str) const {
+    size_t end;
+    return !str ||
+           (VerifyVectorOrString(reinterpret_cast<const uint8_t *>(str),
+                                 1, &end) &&
+            Verify(end, 1) &&      // Must have terminator
+            Check(buf_[end] == '\0'));  // Terminating byte must be 0.
+  }
+
+  // Common code between vectors and strings.
+  bool VerifyVectorOrString(const uint8_t *vec, size_t elem_size,
+                    size_t *end = nullptr) const {
+    auto veco = static_cast<size_t>(vec - buf_);
+    // Check we can read the size field.
+    if (!Verify<uoffset_t>(veco)) return false;
+    // Check the whole array. If this is a string, the byte past the array
+    // must be 0.
+    auto size = ReadScalar<uoffset_t>(vec);
+    auto max_elems = FLATBUFFERS_MAX_BUFFER_SIZE / elem_size;
+    if (!Check(size < max_elems))
+      return false;  // Protect against byte_size overflowing.
+    auto byte_size = sizeof(size) + elem_size * size;
+    if (end) *end = veco + byte_size;
+    return Verify(veco, byte_size);
+  }
+
+  // Special case for string contents, after the above has been called.
+  bool VerifyVectorOfStrings(const Vector<Offset<String>> *vec) const {
+    if (vec) {
+      for (uoffset_t i = 0; i < vec->size(); i++) {
+        if (!VerifyString(vec->Get(i))) return false;
+      }
+    }
+    return true;
+  }
+
+  // Special case for table contents, after the above has been called.
+  template<typename T> bool VerifyVectorOfTables(const Vector<Offset<T>> *vec) {
+    if (vec) {
+      for (uoffset_t i = 0; i < vec->size(); i++) {
+        if (!vec->Get(i)->Verify(*this)) return false;
+      }
+    }
+    return true;
+  }
+
+  bool VerifyTableStart(const uint8_t *table) {
+    // Check the vtable offset.
+    auto tableo = static_cast<size_t>(table - buf_);
+    if (!Verify<soffset_t>(tableo)) return false;
+    // This offset may be signed, but doing the substraction unsigned always
+    // gives the result we want.
+    auto vtableo = tableo - static_cast<size_t>(ReadScalar<soffset_t>(table));
+    // Check the vtable size field, then check vtable fits in its entirety.
+    return VerifyComplexity() && Verify<voffset_t>(vtableo) &&
+           VerifyAlignment<voffset_t>(ReadScalar<voffset_t>(buf_ + vtableo)) &&
+           Verify(vtableo, ReadScalar<voffset_t>(buf_ + vtableo));
+  }
+
+  template<typename T>
+  bool VerifyBufferFromStart(const char *identifier, size_t start) {
+    if (identifier &&
+        (size_ < 2 * sizeof(flatbuffers::uoffset_t) ||
+         !BufferHasIdentifier(buf_ + start, identifier))) {
+      return false;
+    }
+
+    // Call T::Verify, which must be in the generated code for this type.
+    auto o = VerifyOffset(start);
+    return o && reinterpret_cast<const T *>(buf_ + start + o)->Verify(*this)
+    // clang-format off
+    #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE
+           && GetComputedSize()
+    #endif
+        ;
+    // clang-format on
+  }
+
+  // Verify this whole buffer, starting with root type T.
+  template<typename T> bool VerifyBuffer() { return VerifyBuffer<T>(nullptr); }
+
+  template<typename T> bool VerifyBuffer(const char *identifier) {
+    return VerifyBufferFromStart<T>(identifier, 0);
+  }
+
+  template<typename T> bool VerifySizePrefixedBuffer(const char *identifier) {
+    return Verify<uoffset_t>(0U) &&
+           ReadScalar<uoffset_t>(buf_) == size_ - sizeof(uoffset_t) &&
+           VerifyBufferFromStart<T>(identifier, sizeof(uoffset_t));
+  }
+
+  uoffset_t VerifyOffset(size_t start) const {
+    if (!Verify<uoffset_t>(start)) return 0;
+    auto o = ReadScalar<uoffset_t>(buf_ + start);
+    // May not point to itself.
+    if (!Check(o != 0)) return 0;
+    // Can't wrap around / buffers are max 2GB.
+    if (!Check(static_cast<soffset_t>(o) >= 0)) return 0;
+    // Must be inside the buffer to create a pointer from it (pointer outside
+    // buffer is UB).
+    if (!Verify(start + o, 1)) return 0;
+    return o;
+  }
+
+  uoffset_t VerifyOffset(const uint8_t *base, voffset_t start) const {
+    return VerifyOffset(static_cast<size_t>(base - buf_) + start);
+  }
+
+  // Called at the start of a table to increase counters measuring data
+  // structure depth and amount, and possibly bails out with false if
+  // limits set by the constructor have been hit. Needs to be balanced
+  // with EndTable().
+  bool VerifyComplexity() {
+    depth_++;
+    num_tables_++;
+    return Check(depth_ <= max_depth_ && num_tables_ <= max_tables_);
+  }
+
+  // Called at the end of a table to pop the depth count.
+  bool EndTable() {
+    depth_--;
+    return true;
+  }
+
+  // Returns the message size in bytes
+  size_t GetComputedSize() const {
+    // clang-format off
+    #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE
+      uintptr_t size = upper_bound_;
+      // Align the size to uoffset_t
+      size = (size - 1 + sizeof(uoffset_t)) & ~(sizeof(uoffset_t) - 1);
+      return (size > size_) ?  0 : size;
+    #else
+      // Must turn on FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE for this to work.
+      (void)upper_bound_;
+      FLATBUFFERS_ASSERT(false);
+      return 0;
+    #endif
+    // clang-format on
+  }
+
+ private:
+  const uint8_t *buf_;
+  size_t size_;
+  uoffset_t depth_;
+  uoffset_t max_depth_;
+  uoffset_t num_tables_;
+  uoffset_t max_tables_;
+  mutable size_t upper_bound_;
+  bool check_alignment_;
+};
+
+// Convenient way to bundle a buffer and its length, to pass it around
+// typed by its root.
+// A BufferRef does not own its buffer.
+struct BufferRefBase {};  // for std::is_base_of
+template<typename T> struct BufferRef : BufferRefBase {
+  BufferRef() : buf(nullptr), len(0), must_free(false) {}
+  BufferRef(uint8_t *_buf, uoffset_t _len)
+      : buf(_buf), len(_len), must_free(false) {}
+
+  ~BufferRef() {
+    if (must_free) free(buf);
+  }
+
+  const T *GetRoot() const { return flatbuffers::GetRoot<T>(buf); }
+
+  bool Verify() {
+    Verifier verifier(buf, len);
+    return verifier.VerifyBuffer<T>(nullptr);
+  }
+
+  uint8_t *buf;
+  uoffset_t len;
+  bool must_free;
+};
+
+// "structs" are flat structures that do not have an offset table, thus
+// always have all members present and do not support forwards/backwards
+// compatible extensions.
+
+class Struct FLATBUFFERS_FINAL_CLASS {
+ public:
+  template<typename T> T GetField(uoffset_t o) const {
+    return ReadScalar<T>(&data_[o]);
+  }
+
+  template<typename T> T GetStruct(uoffset_t o) const {
+    return reinterpret_cast<T>(&data_[o]);
+  }
+
+  const uint8_t *GetAddressOf(uoffset_t o) const { return &data_[o]; }
+  uint8_t *GetAddressOf(uoffset_t o) { return &data_[o]; }
+
+ private:
+  uint8_t data_[1];
+};
+
+// "tables" use an offset table (possibly shared) that allows fields to be
+// omitted and added at will, but uses an extra indirection to read.
+class Table {
+ public:
+  const uint8_t *GetVTable() const {
+    return data_ - ReadScalar<soffset_t>(data_);
+  }
+
+  // This gets the field offset for any of the functions below it, or 0
+  // if the field was not present.
+  voffset_t GetOptionalFieldOffset(voffset_t field) const {
+    // The vtable offset is always at the start.
+    auto vtable = GetVTable();
+    // The first element is the size of the vtable (fields + type id + itself).
+    auto vtsize = ReadScalar<voffset_t>(vtable);
+    // If the field we're accessing is outside the vtable, we're reading older
+    // data, so it's the same as if the offset was 0 (not present).
+    return field < vtsize ? ReadScalar<voffset_t>(vtable + field) : 0;
+  }
+
+  template<typename T> T GetField(voffset_t field, T defaultval) const {
+    auto field_offset = GetOptionalFieldOffset(field);
+    return field_offset ? ReadScalar<T>(data_ + field_offset) : defaultval;
+  }
+
+  template<typename P> P GetPointer(voffset_t field) {
+    auto field_offset = GetOptionalFieldOffset(field);
+    auto p = data_ + field_offset;
+    return field_offset ? reinterpret_cast<P>(p + ReadScalar<uoffset_t>(p))
+                        : nullptr;
+  }
+  template<typename P> P GetPointer(voffset_t field) const {
+    return const_cast<Table *>(this)->GetPointer<P>(field);
+  }
+
+  template<typename P> P GetStruct(voffset_t field) const {
+    auto field_offset = GetOptionalFieldOffset(field);
+    auto p = const_cast<uint8_t *>(data_ + field_offset);
+    return field_offset ? reinterpret_cast<P>(p) : nullptr;
+  }
+
+  template<typename T> bool SetField(voffset_t field, T val, T def) {
+    auto field_offset = GetOptionalFieldOffset(field);
+    if (!field_offset) return IsTheSameAs(val, def);
+    WriteScalar(data_ + field_offset, val);
+    return true;
+  }
+
+  bool SetPointer(voffset_t field, const uint8_t *val) {
+    auto field_offset = GetOptionalFieldOffset(field);
+    if (!field_offset) return false;
+    WriteScalar(data_ + field_offset,
+                static_cast<uoffset_t>(val - (data_ + field_offset)));
+    return true;
+  }
+
+  uint8_t *GetAddressOf(voffset_t field) {
+    auto field_offset = GetOptionalFieldOffset(field);
+    return field_offset ? data_ + field_offset : nullptr;
+  }
+  const uint8_t *GetAddressOf(voffset_t field) const {
+    return const_cast<Table *>(this)->GetAddressOf(field);
+  }
+
+  bool CheckField(voffset_t field) const {
+    return GetOptionalFieldOffset(field) != 0;
+  }
+
+  // Verify the vtable of this table.
+  // Call this once per table, followed by VerifyField once per field.
+  bool VerifyTableStart(Verifier &verifier) const {
+    return verifier.VerifyTableStart(data_);
+  }
+
+  // Verify a particular field.
+  template<typename T>
+  bool VerifyField(const Verifier &verifier, voffset_t field) const {
+    // Calling GetOptionalFieldOffset should be safe now thanks to
+    // VerifyTable().
+    auto field_offset = GetOptionalFieldOffset(field);
+    // Check the actual field.
+    return !field_offset || verifier.Verify<T>(data_, field_offset);
+  }
+
+  // VerifyField for required fields.
+  template<typename T>
+  bool VerifyFieldRequired(const Verifier &verifier, voffset_t field) const {
+    auto field_offset = GetOptionalFieldOffset(field);
+    return verifier.Check(field_offset != 0) &&
+           verifier.Verify<T>(data_, field_offset);
+  }
+
+  // Versions for offsets.
+  bool VerifyOffset(const Verifier &verifier, voffset_t field) const {
+    auto field_offset = GetOptionalFieldOffset(field);
+    return !field_offset || verifier.VerifyOffset(data_, field_offset);
+  }
+
+  bool VerifyOffsetRequired(const Verifier &verifier, voffset_t field) const {
+    auto field_offset = GetOptionalFieldOffset(field);
+    return verifier.Check(field_offset != 0) &&
+           verifier.VerifyOffset(data_, field_offset);
+  }
+
+ private:
+  // private constructor & copy constructor: you obtain instances of this
+  // class by pointing to existing data only
+  Table();
+  Table(const Table &other);
+
+  uint8_t data_[1];
+};
+
+template<typename T> void FlatBufferBuilder::Required(Offset<T> table,
+                                                      voffset_t field) {
+  auto table_ptr = reinterpret_cast<const Table *>(buf_.data_at(table.o));
+  bool ok = table_ptr->GetOptionalFieldOffset(field) != 0;
+  // If this fails, the caller will show what field needs to be set.
+  FLATBUFFERS_ASSERT(ok);
+  (void)ok;
+}
+
+/// @brief This can compute the start of a FlatBuffer from a root pointer, i.e.
+/// it is the opposite transformation of GetRoot().
+/// This may be useful if you want to pass on a root and have the recipient
+/// delete the buffer afterwards.
+inline const uint8_t *GetBufferStartFromRootPointer(const void *root) {
+  auto table = reinterpret_cast<const Table *>(root);
+  auto vtable = table->GetVTable();
+  // Either the vtable is before the root or after the root.
+  auto start = (std::min)(vtable, reinterpret_cast<const uint8_t *>(root));
+  // Align to at least sizeof(uoffset_t).
+  start = reinterpret_cast<const uint8_t *>(reinterpret_cast<uintptr_t>(start) &
+                                            ~(sizeof(uoffset_t) - 1));
+  // Additionally, there may be a file_identifier in the buffer, and the root
+  // offset. The buffer may have been aligned to any size between
+  // sizeof(uoffset_t) and FLATBUFFERS_MAX_ALIGNMENT (see "force_align").
+  // Sadly, the exact alignment is only known when constructing the buffer,
+  // since it depends on the presence of values with said alignment properties.
+  // So instead, we simply look at the next uoffset_t values (root,
+  // file_identifier, and alignment padding) to see which points to the root.
+  // None of the other values can "impersonate" the root since they will either
+  // be 0 or four ASCII characters.
+  static_assert(FlatBufferBuilder::kFileIdentifierLength == sizeof(uoffset_t),
+                "file_identifier is assumed to be the same size as uoffset_t");
+  for (auto possible_roots = FLATBUFFERS_MAX_ALIGNMENT / sizeof(uoffset_t) + 1;
+       possible_roots; possible_roots--) {
+    start -= sizeof(uoffset_t);
+    if (ReadScalar<uoffset_t>(start) + start ==
+        reinterpret_cast<const uint8_t *>(root))
+      return start;
+  }
+  // We didn't find the root, either the "root" passed isn't really a root,
+  // or the buffer is corrupt.
+  // Assert, because calling this function with bad data may cause reads
+  // outside of buffer boundaries.
+  FLATBUFFERS_ASSERT(false);
+  return nullptr;
+}
+
+/// @brief This return the prefixed size of a FlatBuffer.
+inline uoffset_t GetPrefixedSize(const uint8_t* buf){ return ReadScalar<uoffset_t>(buf); }
+
+// Base class for native objects (FlatBuffer data de-serialized into native
+// C++ data structures).
+// Contains no functionality, purely documentative.
+struct NativeTable {};
+
+/// @brief Function types to be used with resolving hashes into objects and
+/// back again. The resolver gets a pointer to a field inside an object API
+/// object that is of the type specified in the schema using the attribute
+/// `cpp_type` (it is thus important whatever you write to this address
+/// matches that type). The value of this field is initially null, so you
+/// may choose to implement a delayed binding lookup using this function
+/// if you wish. The resolver does the opposite lookup, for when the object
+/// is being serialized again.
+typedef uint64_t hash_value_t;
+// clang-format off
+#ifdef FLATBUFFERS_CPP98_STL
+  typedef void (*resolver_function_t)(void **pointer_adr, hash_value_t hash);
+  typedef hash_value_t (*rehasher_function_t)(void *pointer);
+#else
+  typedef std::function<void (void **pointer_adr, hash_value_t hash)>
+          resolver_function_t;
+  typedef std::function<hash_value_t (void *pointer)> rehasher_function_t;
+#endif
+// clang-format on
+
+// Helper function to test if a field is present, using any of the field
+// enums in the generated code.
+// `table` must be a generated table type. Since this is a template parameter,
+// this is not typechecked to be a subclass of Table, so beware!
+// Note: this function will return false for fields equal to the default
+// value, since they're not stored in the buffer (unless force_defaults was
+// used).
+template<typename T>
+bool IsFieldPresent(const T *table, typename T::FlatBuffersVTableOffset field) {
+  // Cast, since Table is a private baseclass of any table types.
+  return reinterpret_cast<const Table *>(table)->CheckField(
+      static_cast<voffset_t>(field));
+}
+
+// Utility function for reverse lookups on the EnumNames*() functions
+// (in the generated C++ code)
+// names must be NULL terminated.
+inline int LookupEnum(const char **names, const char *name) {
+  for (const char **p = names; *p; p++)
+    if (!strcmp(*p, name)) return static_cast<int>(p - names);
+  return -1;
+}
+
+// These macros allow us to layout a struct with a guarantee that they'll end
+// up looking the same on different compilers and platforms.
+// It does this by disallowing the compiler to do any padding, and then
+// does padding itself by inserting extra padding fields that make every
+// element aligned to its own size.
+// Additionally, it manually sets the alignment of the struct as a whole,
+// which is typically its largest element, or a custom size set in the schema
+// by the force_align attribute.
+// These are used in the generated code only.
+
+// clang-format off
+#if defined(_MSC_VER)
+  #define FLATBUFFERS_MANUALLY_ALIGNED_STRUCT(alignment) \
+    __pragma(pack(1)) \
+    struct __declspec(align(alignment))
+  #define FLATBUFFERS_STRUCT_END(name, size) \
+    __pragma(pack()) \
+    static_assert(sizeof(name) == size, "compiler breaks packing rules")
+#elif defined(__GNUC__) || defined(__clang__)
+  #define FLATBUFFERS_MANUALLY_ALIGNED_STRUCT(alignment) \
+    _Pragma("pack(1)") \
+    struct __attribute__((aligned(alignment)))
+  #define FLATBUFFERS_STRUCT_END(name, size) \
+    _Pragma("pack()") \
+    static_assert(sizeof(name) == size, "compiler breaks packing rules")
+#else
+  #error Unknown compiler, please define structure alignment macros
+#endif
+// clang-format on
+
+// Minimal reflection via code generation.
+// Besides full-fat reflection (see reflection.h) and parsing/printing by
+// loading schemas (see idl.h), we can also have code generation for mimimal
+// reflection data which allows pretty-printing and other uses without needing
+// a schema or a parser.
+// Generate code with --reflect-types (types only) or --reflect-names (names
+// also) to enable.
+// See minireflect.h for utilities using this functionality.
+
+// These types are organized slightly differently as the ones in idl.h.
+enum SequenceType { ST_TABLE, ST_STRUCT, ST_UNION, ST_ENUM };
+
+// Scalars have the same order as in idl.h
+// clang-format off
+#define FLATBUFFERS_GEN_ELEMENTARY_TYPES(ET) \
+  ET(ET_UTYPE) \
+  ET(ET_BOOL) \
+  ET(ET_CHAR) \
+  ET(ET_UCHAR) \
+  ET(ET_SHORT) \
+  ET(ET_USHORT) \
+  ET(ET_INT) \
+  ET(ET_UINT) \
+  ET(ET_LONG) \
+  ET(ET_ULONG) \
+  ET(ET_FLOAT) \
+  ET(ET_DOUBLE) \
+  ET(ET_STRING) \
+  ET(ET_SEQUENCE)  // See SequenceType.
+
+enum ElementaryType {
+  #define FLATBUFFERS_ET(E) E,
+    FLATBUFFERS_GEN_ELEMENTARY_TYPES(FLATBUFFERS_ET)
+  #undef FLATBUFFERS_ET
+};
+
+inline const char * const *ElementaryTypeNames() {
+  static const char * const names[] = {
+    #define FLATBUFFERS_ET(E) #E,
+      FLATBUFFERS_GEN_ELEMENTARY_TYPES(FLATBUFFERS_ET)
+    #undef FLATBUFFERS_ET
+  };
+  return names;
+}
+// clang-format on
+
+// Basic type info cost just 16bits per field!
+struct TypeCode {
+  uint16_t base_type : 4;  // ElementaryType
+  uint16_t is_vector : 1;
+  int16_t sequence_ref : 11;  // Index into type_refs below, or -1 for none.
+};
+
+static_assert(sizeof(TypeCode) == 2, "TypeCode");
+
+struct TypeTable;
+
+// Signature of the static method present in each type.
+typedef const TypeTable *(*TypeFunction)();
+
+struct TypeTable {
+  SequenceType st;
+  size_t num_elems;  // of type_codes, values, names (but not type_refs).
+  const TypeCode *type_codes;  // num_elems count
+  const TypeFunction *type_refs;  // less than num_elems entries (see TypeCode).
+  const int64_t *values;  // Only set for non-consecutive enum/union or structs.
+  const char * const *names;     // Only set if compiled with --reflect-names.
+};
+
+// String which identifies the current version of FlatBuffers.
+// flatbuffer_version_string is used by Google developers to identify which
+// applications uploaded to Google Play are using this library.  This allows
+// the development team at Google to determine the popularity of the library.
+// How it works: Applications that are uploaded to the Google Play Store are
+// scanned for this version string.  We track which applications are using it
+// to measure popularity.  You are free to remove it (of course) but we would
+// appreciate if you left it in.
+
+// Weak linkage is culled by VS & doesn't work on cygwin.
+// clang-format off
+#if !defined(_WIN32) && !defined(__CYGWIN__)
+
+extern volatile __attribute__((weak)) const char *flatbuffer_version_string;
+volatile __attribute__((weak)) const char *flatbuffer_version_string =
+  "FlatBuffers "
+  FLATBUFFERS_STRING(FLATBUFFERS_VERSION_MAJOR) "."
+  FLATBUFFERS_STRING(FLATBUFFERS_VERSION_MINOR) "."
+  FLATBUFFERS_STRING(FLATBUFFERS_VERSION_REVISION);
+
+#endif  // !defined(_WIN32) && !defined(__CYGWIN__)
+
+#define FLATBUFFERS_DEFINE_BITMASK_OPERATORS(E, T)\
+    inline E operator | (E lhs, E rhs){\
+        return E(T(lhs) | T(rhs));\
+    }\
+    inline E operator & (E lhs, E rhs){\
+        return E(T(lhs) & T(rhs));\
+    }\
+    inline E operator ^ (E lhs, E rhs){\
+        return E(T(lhs) ^ T(rhs));\
+    }\
+    inline E operator ~ (E lhs){\
+        return E(~T(lhs));\
+    }\
+    inline E operator |= (E &lhs, E rhs){\
+        lhs = lhs | rhs;\
+        return lhs;\
+    }\
+    inline E operator &= (E &lhs, E rhs){\
+        lhs = lhs & rhs;\
+        return lhs;\
+    }\
+    inline E operator ^= (E &lhs, E rhs){\
+        lhs = lhs ^ rhs;\
+        return lhs;\
+    }\
+    inline bool operator !(E rhs) \
+    {\
+        return !bool(T(rhs)); \
+    }
+/// @endcond
+}  // namespace flatbuffers
+
+// clang-format on
+
+#endif  // FLATBUFFERS_H_
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/flatc.h b/host/lib/deps/flatbuffers/include/flatbuffers/flatc.h
new file mode 100644
index 000000000..f2765d239
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/flatc.h
@@ -0,0 +1,96 @@
+/*
+ * Copyright 2017 Google Inc. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <functional>
+#include <limits>
+#include <string>
+#include "flatbuffers/flatbuffers.h"
+#include "flatbuffers/idl.h"
+#include "flatbuffers/util.h"
+
+#ifndef FLATC_H_
+#  define FLATC_H_
+
+namespace flatbuffers {
+
+class FlatCompiler {
+ public:
+  // Output generator for the various programming languages and formats we
+  // support.
+  struct Generator {
+    typedef bool (*GenerateFn)(const flatbuffers::Parser &parser,
+                               const std::string &path,
+                               const std::string &file_name);
+    typedef std::string (*MakeRuleFn)(const flatbuffers::Parser &parser,
+                                      const std::string &path,
+                                      const std::string &file_name);
+
+    GenerateFn generate;
+    const char *generator_opt_short;
+    const char *generator_opt_long;
+    const char *lang_name;
+    bool schema_only;
+    GenerateFn generateGRPC;
+    flatbuffers::IDLOptions::Language lang;
+    const char *generator_help;
+    MakeRuleFn make_rule;
+  };
+
+  typedef void (*WarnFn)(const FlatCompiler *flatc, const std::string &warn,
+                         bool show_exe_name);
+
+  typedef void (*ErrorFn)(const FlatCompiler *flatc, const std::string &err,
+                          bool usage, bool show_exe_name);
+
+  // Parameters required to initialize the FlatCompiler.
+  struct InitParams {
+    InitParams()
+        : generators(nullptr),
+          num_generators(0),
+          warn_fn(nullptr),
+          error_fn(nullptr) {}
+
+    const Generator *generators;
+    size_t num_generators;
+    WarnFn warn_fn;
+    ErrorFn error_fn;
+  };
+
+  explicit FlatCompiler(const InitParams &params) : params_(params) {}
+
+  int Compile(int argc, const char **argv);
+
+  std::string GetUsageString(const char *program_name) const;
+
+ private:
+  void ParseFile(flatbuffers::Parser &parser, const std::string &filename,
+                 const std::string &contents,
+                 std::vector<const char *> &include_directories) const;
+
+  void LoadBinarySchema(Parser &parser, const std::string &filename,
+                        const std::string &contents);
+
+  void Warn(const std::string &warn, bool show_exe_name = true) const;
+
+  void Error(const std::string &err, bool usage = true,
+             bool show_exe_name = true) const;
+
+  InitParams params_;
+};
+
+}  // namespace flatbuffers
+
+#endif  // FLATC_H_
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/flexbuffers.h b/host/lib/deps/flatbuffers/include/flatbuffers/flexbuffers.h
new file mode 100644
index 000000000..7cba5b75b
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/flexbuffers.h
@@ -0,0 +1,1538 @@
+/*
+ * Copyright 2017 Google Inc. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef FLATBUFFERS_FLEXBUFFERS_H_
+#define FLATBUFFERS_FLEXBUFFERS_H_
+
+#include <map>
+// Used to select STL variant.
+#include "flatbuffers/base.h"
+// We use the basic binary writing functions from the regular FlatBuffers.
+#include "flatbuffers/util.h"
+
+#ifdef _MSC_VER
+#  include <intrin.h>
+#endif
+
+#if defined(_MSC_VER)
+#  pragma warning(push)
+#  pragma warning(disable : 4127)  // C4127: conditional expression is constant
+#endif
+
+namespace flexbuffers {
+
+class Reference;
+class Map;
+
+// These are used in the lower 2 bits of a type field to determine the size of
+// the elements (and or size field) of the item pointed to (e.g. vector).
+enum BitWidth {
+  BIT_WIDTH_8 = 0,
+  BIT_WIDTH_16 = 1,
+  BIT_WIDTH_32 = 2,
+  BIT_WIDTH_64 = 3,
+};
+
+// These are used as the upper 6 bits of a type field to indicate the actual
+// type.
+enum Type {
+  FBT_NULL = 0,
+  FBT_INT = 1,
+  FBT_UINT = 2,
+  FBT_FLOAT = 3,
+  // Types above stored inline, types below store an offset.
+  FBT_KEY = 4,
+  FBT_STRING = 5,
+  FBT_INDIRECT_INT = 6,
+  FBT_INDIRECT_UINT = 7,
+  FBT_INDIRECT_FLOAT = 8,
+  FBT_MAP = 9,
+  FBT_VECTOR = 10,      // Untyped.
+  FBT_VECTOR_INT = 11,  // Typed any size (stores no type table).
+  FBT_VECTOR_UINT = 12,
+  FBT_VECTOR_FLOAT = 13,
+  FBT_VECTOR_KEY = 14,
+  FBT_VECTOR_STRING = 15,
+  FBT_VECTOR_INT2 = 16,  // Typed tuple (no type table, no size field).
+  FBT_VECTOR_UINT2 = 17,
+  FBT_VECTOR_FLOAT2 = 18,
+  FBT_VECTOR_INT3 = 19,  // Typed triple (no type table, no size field).
+  FBT_VECTOR_UINT3 = 20,
+  FBT_VECTOR_FLOAT3 = 21,
+  FBT_VECTOR_INT4 = 22,  // Typed quad (no type table, no size field).
+  FBT_VECTOR_UINT4 = 23,
+  FBT_VECTOR_FLOAT4 = 24,
+  FBT_BLOB = 25,
+  FBT_BOOL = 26,
+  FBT_VECTOR_BOOL =
+      36,  // To Allow the same type of conversion of type to vector type
+};
+
+inline bool IsInline(Type t) { return t <= FBT_FLOAT || t == FBT_BOOL; }
+
+inline bool IsTypedVectorElementType(Type t) {
+  return (t >= FBT_INT && t <= FBT_STRING) || t == FBT_BOOL;
+}
+
+inline bool IsTypedVector(Type t) {
+  return (t >= FBT_VECTOR_INT && t <= FBT_VECTOR_STRING) ||
+         t == FBT_VECTOR_BOOL;
+}
+
+inline bool IsFixedTypedVector(Type t) {
+  return t >= FBT_VECTOR_INT2 && t <= FBT_VECTOR_FLOAT4;
+}
+
+inline Type ToTypedVector(Type t, size_t fixed_len = 0) {
+  FLATBUFFERS_ASSERT(IsTypedVectorElementType(t));
+  switch (fixed_len) {
+    case 0: return static_cast<Type>(t - FBT_INT + FBT_VECTOR_INT);
+    case 2: return static_cast<Type>(t - FBT_INT + FBT_VECTOR_INT2);
+    case 3: return static_cast<Type>(t - FBT_INT + FBT_VECTOR_INT3);
+    case 4: return static_cast<Type>(t - FBT_INT + FBT_VECTOR_INT4);
+    default: FLATBUFFERS_ASSERT(0); return FBT_NULL;
+  }
+}
+
+inline Type ToTypedVectorElementType(Type t) {
+  FLATBUFFERS_ASSERT(IsTypedVector(t));
+  return static_cast<Type>(t - FBT_VECTOR_INT + FBT_INT);
+}
+
+inline Type ToFixedTypedVectorElementType(Type t, uint8_t *len) {
+  FLATBUFFERS_ASSERT(IsFixedTypedVector(t));
+  auto fixed_type = t - FBT_VECTOR_INT2;
+  *len = static_cast<uint8_t>(fixed_type / 3 +
+                              2);  // 3 types each, starting from length 2.
+  return static_cast<Type>(fixed_type % 3 + FBT_INT);
+}
+
+// TODO: implement proper support for 8/16bit floats, or decide not to
+// support them.
+typedef int16_t half;
+typedef int8_t quarter;
+
+// TODO: can we do this without conditionals using intrinsics or inline asm
+// on some platforms? Given branch prediction the method below should be
+// decently quick, but it is the most frequently executed function.
+// We could do an (unaligned) 64-bit read if we ifdef out the platforms for
+// which that doesn't work (or where we'd read into un-owned memory).
+template<typename R, typename T1, typename T2, typename T4, typename T8>
+R ReadSizedScalar(const uint8_t *data, uint8_t byte_width) {
+  return byte_width < 4
+             ? (byte_width < 2
+                    ? static_cast<R>(flatbuffers::ReadScalar<T1>(data))
+                    : static_cast<R>(flatbuffers::ReadScalar<T2>(data)))
+             : (byte_width < 8
+                    ? static_cast<R>(flatbuffers::ReadScalar<T4>(data))
+                    : static_cast<R>(flatbuffers::ReadScalar<T8>(data)));
+}
+
+inline int64_t ReadInt64(const uint8_t *data, uint8_t byte_width) {
+  return ReadSizedScalar<int64_t, int8_t, int16_t, int32_t, int64_t>(
+      data, byte_width);
+}
+
+inline uint64_t ReadUInt64(const uint8_t *data, uint8_t byte_width) {
+  // This is the "hottest" function (all offset lookups use this), so worth
+  // optimizing if possible.
+  // TODO: GCC apparently replaces memcpy by a rep movsb, but only if count is a
+  // constant, which here it isn't. Test if memcpy is still faster than
+  // the conditionals in ReadSizedScalar. Can also use inline asm.
+  // clang-format off
+  #if defined(_MSC_VER) && (defined(_M_X64) || defined _M_IX86)
+    uint64_t u = 0;
+    __movsb(reinterpret_cast<uint8_t *>(&u),
+            reinterpret_cast<const uint8_t *>(data), byte_width);
+    return flatbuffers::EndianScalar(u);
+  #else
+    return ReadSizedScalar<uint64_t, uint8_t, uint16_t, uint32_t, uint64_t>(
+             data, byte_width);
+  #endif
+  // clang-format on
+}
+
+inline double ReadDouble(const uint8_t *data, uint8_t byte_width) {
+  return ReadSizedScalar<double, quarter, half, float, double>(data,
+                                                               byte_width);
+}
+
+inline const uint8_t *Indirect(const uint8_t *offset, uint8_t byte_width) {
+  return offset - ReadUInt64(offset, byte_width);
+}
+
+template<typename T> const uint8_t *Indirect(const uint8_t *offset) {
+  return offset - flatbuffers::ReadScalar<T>(offset);
+}
+
+inline BitWidth WidthU(uint64_t u) {
+#define FLATBUFFERS_GET_FIELD_BIT_WIDTH(value, width)                   \
+  {                                                                     \
+    if (!((u) & ~((1ULL << (width)) - 1ULL))) return BIT_WIDTH_##width; \
+  }
+  FLATBUFFERS_GET_FIELD_BIT_WIDTH(u, 8);
+  FLATBUFFERS_GET_FIELD_BIT_WIDTH(u, 16);
+  FLATBUFFERS_GET_FIELD_BIT_WIDTH(u, 32);
+#undef FLATBUFFERS_GET_FIELD_BIT_WIDTH
+  return BIT_WIDTH_64;
+}
+
+inline BitWidth WidthI(int64_t i) {
+  auto u = static_cast<uint64_t>(i) << 1;
+  return WidthU(i >= 0 ? u : ~u);
+}
+
+inline BitWidth WidthF(double f) {
+  return static_cast<double>(static_cast<float>(f)) == f ? BIT_WIDTH_32
+                                                         : BIT_WIDTH_64;
+}
+
+// Base class of all types below.
+// Points into the data buffer and allows access to one type.
+class Object {
+ public:
+  Object(const uint8_t *data, uint8_t byte_width)
+      : data_(data), byte_width_(byte_width) {}
+
+ protected:
+  const uint8_t *data_;
+  uint8_t byte_width_;
+};
+
+// Stores size in `byte_width_` bytes before data_ pointer.
+class Sized : public Object {
+ public:
+  Sized(const uint8_t *data, uint8_t byte_width) : Object(data, byte_width) {}
+  size_t size() const {
+    return static_cast<size_t>(ReadUInt64(data_ - byte_width_, byte_width_));
+  }
+};
+
+class String : public Sized {
+ public:
+  String(const uint8_t *data, uint8_t byte_width) : Sized(data, byte_width) {}
+
+  size_t length() const { return size(); }
+  const char *c_str() const { return reinterpret_cast<const char *>(data_); }
+  std::string str() const { return std::string(c_str(), length()); }
+
+  static String EmptyString() {
+    static const uint8_t empty_string[] = { 0 /*len*/, 0 /*terminator*/ };
+    return String(empty_string + 1, 1);
+  }
+  bool IsTheEmptyString() const { return data_ == EmptyString().data_; }
+};
+
+class Blob : public Sized {
+ public:
+  Blob(const uint8_t *data_buf, uint8_t byte_width)
+      : Sized(data_buf, byte_width) {}
+
+  static Blob EmptyBlob() {
+    static const uint8_t empty_blob[] = { 0 /*len*/ };
+    return Blob(empty_blob + 1, 1);
+  }
+  bool IsTheEmptyBlob() const { return data_ == EmptyBlob().data_; }
+  const uint8_t *data() const { return data_; }
+};
+
+class Vector : public Sized {
+ public:
+  Vector(const uint8_t *data, uint8_t byte_width) : Sized(data, byte_width) {}
+
+  Reference operator[](size_t i) const;
+
+  static Vector EmptyVector() {
+    static const uint8_t empty_vector[] = { 0 /*len*/ };
+    return Vector(empty_vector + 1, 1);
+  }
+  bool IsTheEmptyVector() const { return data_ == EmptyVector().data_; }
+};
+
+class TypedVector : public Sized {
+ public:
+  TypedVector(const uint8_t *data, uint8_t byte_width, Type element_type)
+      : Sized(data, byte_width), type_(element_type) {}
+
+  Reference operator[](size_t i) const;
+
+  static TypedVector EmptyTypedVector() {
+    static const uint8_t empty_typed_vector[] = { 0 /*len*/ };
+    return TypedVector(empty_typed_vector + 1, 1, FBT_INT);
+  }
+  bool IsTheEmptyVector() const {
+    return data_ == TypedVector::EmptyTypedVector().data_;
+  }
+
+  Type ElementType() { return type_; }
+
+ private:
+  Type type_;
+
+  friend Map;
+};
+
+class FixedTypedVector : public Object {
+ public:
+  FixedTypedVector(const uint8_t *data, uint8_t byte_width, Type element_type,
+                   uint8_t len)
+      : Object(data, byte_width), type_(element_type), len_(len) {}
+
+  Reference operator[](size_t i) const;
+
+  static FixedTypedVector EmptyFixedTypedVector() {
+    static const uint8_t fixed_empty_vector[] = { 0 /* unused */ };
+    return FixedTypedVector(fixed_empty_vector, 1, FBT_INT, 0);
+  }
+  bool IsTheEmptyFixedTypedVector() const {
+    return data_ == FixedTypedVector::EmptyFixedTypedVector().data_;
+  }
+
+  Type ElementType() { return type_; }
+  uint8_t size() { return len_; }
+
+ private:
+  Type type_;
+  uint8_t len_;
+};
+
+class Map : public Vector {
+ public:
+  Map(const uint8_t *data, uint8_t byte_width) : Vector(data, byte_width) {}
+
+  Reference operator[](const char *key) const;
+  Reference operator[](const std::string &key) const;
+
+  Vector Values() const { return Vector(data_, byte_width_); }
+
+  TypedVector Keys() const {
+    const size_t num_prefixed_fields = 3;
+    auto keys_offset = data_ - byte_width_ * num_prefixed_fields;
+    return TypedVector(Indirect(keys_offset, byte_width_),
+                       static_cast<uint8_t>(
+                           ReadUInt64(keys_offset + byte_width_, byte_width_)),
+                       FBT_KEY);
+  }
+
+  static Map EmptyMap() {
+    static const uint8_t empty_map[] = {
+      0 /*keys_len*/, 0 /*keys_offset*/, 1 /*keys_width*/, 0 /*len*/
+    };
+    return Map(empty_map + 4, 1);
+  }
+
+  bool IsTheEmptyMap() const { return data_ == EmptyMap().data_; }
+};
+
+template<typename T>
+void AppendToString(std::string &s, T &&v, bool keys_quoted) {
+    s += "[ ";
+    for (size_t i = 0; i < v.size(); i++) {
+      if (i) s += ", ";
+      v[i].ToString(true, keys_quoted, s);
+    }
+    s += " ]";
+}
+
+class Reference {
+ public:
+  Reference(const uint8_t *data, uint8_t parent_width, uint8_t byte_width,
+            Type type)
+      : data_(data),
+        parent_width_(parent_width),
+        byte_width_(byte_width),
+        type_(type) {}
+
+  Reference(const uint8_t *data, uint8_t parent_width, uint8_t packed_type)
+      : data_(data), parent_width_(parent_width) {
+    byte_width_ = 1U << static_cast<BitWidth>(packed_type & 3);
+    type_ = static_cast<Type>(packed_type >> 2);
+  }
+
+  Type GetType() const { return type_; }
+
+  bool IsNull() const { return type_ == FBT_NULL; }
+  bool IsBool() const { return type_ == FBT_BOOL; }
+  bool IsInt() const { return type_ == FBT_INT || type_ == FBT_INDIRECT_INT; }
+  bool IsUInt() const {
+    return type_ == FBT_UINT || type_ == FBT_INDIRECT_UINT;
+  }
+  bool IsIntOrUint() const { return IsInt() || IsUInt(); }
+  bool IsFloat() const {
+    return type_ == FBT_FLOAT || type_ == FBT_INDIRECT_FLOAT;
+  }
+  bool IsNumeric() const { return IsIntOrUint() || IsFloat(); }
+  bool IsString() const { return type_ == FBT_STRING; }
+  bool IsKey() const { return type_ == FBT_KEY; }
+  bool IsVector() const { return type_ == FBT_VECTOR || type_ == FBT_MAP; }
+  bool IsTypedVector() const { return flexbuffers::IsTypedVector(type_); }
+  bool IsFixedTypedVector() const { return flexbuffers::IsFixedTypedVector(type_); }
+  bool IsAnyVector() const { return (IsTypedVector() || IsFixedTypedVector() || IsVector());}
+  bool IsMap() const { return type_ == FBT_MAP; }
+  bool IsBlob() const { return type_ == FBT_BLOB; }
+
+  bool AsBool() const {
+    return (type_ == FBT_BOOL ? ReadUInt64(data_, parent_width_)
+                               : AsUInt64()) != 0;
+  }
+
+  // Reads any type as a int64_t. Never fails, does most sensible conversion.
+  // Truncates floats, strings are attempted to be parsed for a number,
+  // vectors/maps return their size. Returns 0 if all else fails.
+  int64_t AsInt64() const {
+    if (type_ == FBT_INT) {
+      // A fast path for the common case.
+      return ReadInt64(data_, parent_width_);
+    } else
+      switch (type_) {
+        case FBT_INDIRECT_INT: return ReadInt64(Indirect(), byte_width_);
+        case FBT_UINT: return ReadUInt64(data_, parent_width_);
+        case FBT_INDIRECT_UINT: return ReadUInt64(Indirect(), byte_width_);
+        case FBT_FLOAT:
+          return static_cast<int64_t>(ReadDouble(data_, parent_width_));
+        case FBT_INDIRECT_FLOAT:
+          return static_cast<int64_t>(ReadDouble(Indirect(), byte_width_));
+        case FBT_NULL: return 0;
+        case FBT_STRING: return flatbuffers::StringToInt(AsString().c_str());
+        case FBT_VECTOR: return static_cast<int64_t>(AsVector().size());
+        case FBT_BOOL: return ReadInt64(data_, parent_width_);
+        default:
+          // Convert other things to int.
+          return 0;
+      }
+  }
+
+  // TODO: could specialize these to not use AsInt64() if that saves
+  // extension ops in generated code, and use a faster op than ReadInt64.
+  int32_t AsInt32() const { return static_cast<int32_t>(AsInt64()); }
+  int16_t AsInt16() const { return static_cast<int16_t>(AsInt64()); }
+  int8_t AsInt8() const { return static_cast<int8_t>(AsInt64()); }
+
+  uint64_t AsUInt64() const {
+    if (type_ == FBT_UINT) {
+      // A fast path for the common case.
+      return ReadUInt64(data_, parent_width_);
+    } else
+      switch (type_) {
+        case FBT_INDIRECT_UINT: return ReadUInt64(Indirect(), byte_width_);
+        case FBT_INT: return ReadInt64(data_, parent_width_);
+        case FBT_INDIRECT_INT: return ReadInt64(Indirect(), byte_width_);
+        case FBT_FLOAT:
+          return static_cast<uint64_t>(ReadDouble(data_, parent_width_));
+        case FBT_INDIRECT_FLOAT:
+          return static_cast<uint64_t>(ReadDouble(Indirect(), byte_width_));
+        case FBT_NULL: return 0;
+        case FBT_STRING: return flatbuffers::StringToUInt(AsString().c_str());
+        case FBT_VECTOR: return static_cast<uint64_t>(AsVector().size());
+        case FBT_BOOL: return ReadUInt64(data_, parent_width_);
+        default:
+          // Convert other things to uint.
+          return 0;
+      }
+  }
+
+  uint32_t AsUInt32() const { return static_cast<uint32_t>(AsUInt64()); }
+  uint16_t AsUInt16() const { return static_cast<uint16_t>(AsUInt64()); }
+  uint8_t AsUInt8() const { return static_cast<uint8_t>(AsUInt64()); }
+
+  double AsDouble() const {
+    if (type_ == FBT_FLOAT) {
+      // A fast path for the common case.
+      return ReadDouble(data_, parent_width_);
+    } else
+      switch (type_) {
+        case FBT_INDIRECT_FLOAT: return ReadDouble(Indirect(), byte_width_);
+        case FBT_INT:
+          return static_cast<double>(ReadInt64(data_, parent_width_));
+        case FBT_UINT:
+          return static_cast<double>(ReadUInt64(data_, parent_width_));
+        case FBT_INDIRECT_INT:
+          return static_cast<double>(ReadInt64(Indirect(), byte_width_));
+        case FBT_INDIRECT_UINT:
+          return static_cast<double>(ReadUInt64(Indirect(), byte_width_));
+        case FBT_NULL: return 0.0;
+        case FBT_STRING: return strtod(AsString().c_str(), nullptr);
+        case FBT_VECTOR: return static_cast<double>(AsVector().size());
+        case FBT_BOOL:
+          return static_cast<double>(ReadUInt64(data_, parent_width_));
+        default:
+          // Convert strings and other things to float.
+          return 0;
+      }
+  }
+
+  float AsFloat() const { return static_cast<float>(AsDouble()); }
+
+  const char *AsKey() const {
+    if (type_ == FBT_KEY) {
+      return reinterpret_cast<const char *>(Indirect());
+    } else {
+      return "";
+    }
+  }
+
+  // This function returns the empty string if you try to read a not-string.
+  String AsString() const {
+    if (type_ == FBT_STRING) {
+      return String(Indirect(), byte_width_);
+    } else {
+      return String::EmptyString();
+    }
+  }
+
+  // Unlike AsString(), this will convert any type to a std::string.
+  std::string ToString() const {
+    std::string s;
+    ToString(false, false, s);
+    return s;
+  }
+
+  // Convert any type to a JSON-like string. strings_quoted determines if
+  // string values at the top level receive "" quotes (inside other values
+  // they always do). keys_quoted determines if keys are quoted, at any level.
+  // TODO(wvo): add further options to have indentation/newlines.
+  void ToString(bool strings_quoted, bool keys_quoted, std::string &s) const {
+    if (type_ == FBT_STRING) {
+      String str(Indirect(), byte_width_);
+      if (strings_quoted) {
+        flatbuffers::EscapeString(str.c_str(), str.length(), &s, true, false);
+      } else {
+        s.append(str.c_str(), str.length());
+      }
+    } else if (IsKey()) {
+      auto str = AsKey();
+      if (keys_quoted) {
+        flatbuffers::EscapeString(str, strlen(str), &s, true, false);
+      } else {
+        s += str;
+      }
+    } else if (IsInt()) {
+      s += flatbuffers::NumToString(AsInt64());
+    } else if (IsUInt()) {
+      s += flatbuffers::NumToString(AsUInt64());
+    } else if (IsFloat()) {
+      s += flatbuffers::NumToString(AsDouble());
+    } else if (IsNull()) {
+      s += "null";
+    } else if (IsBool()) {
+      s += AsBool() ? "true" : "false";
+    } else if (IsMap()) {
+      s += "{ ";
+      auto m = AsMap();
+      auto keys = m.Keys();
+      auto vals = m.Values();
+      for (size_t i = 0; i < keys.size(); i++) {
+        keys[i].ToString(true, keys_quoted, s);
+        s += ": ";
+        vals[i].ToString(true, keys_quoted, s);
+        if (i < keys.size() - 1) s += ", ";
+      }
+      s += " }";
+    } else if (IsVector()) {
+      AppendToString<Vector>(s, AsVector(), keys_quoted);
+    } else if (IsTypedVector()) {
+      AppendToString<TypedVector>(s, AsTypedVector(), keys_quoted);
+    } else if (IsFixedTypedVector()) {
+      AppendToString<FixedTypedVector>(s, AsFixedTypedVector(), keys_quoted);
+    } else if (IsBlob()) {
+      auto blob = AsBlob();
+      flatbuffers::EscapeString(reinterpret_cast<const char*>(blob.data()), blob.size(), &s, true, false);
+    } else {
+      s += "(?)";
+    }
+  }
+
+  // This function returns the empty blob if you try to read a not-blob.
+  // Strings can be viewed as blobs too.
+  Blob AsBlob() const {
+    if (type_ == FBT_BLOB || type_ == FBT_STRING) {
+      return Blob(Indirect(), byte_width_);
+    } else {
+      return Blob::EmptyBlob();
+    }
+  }
+
+  // This function returns the empty vector if you try to read a not-vector.
+  // Maps can be viewed as vectors too.
+  Vector AsVector() const {
+    if (type_ == FBT_VECTOR || type_ == FBT_MAP) {
+      return Vector(Indirect(), byte_width_);
+    } else {
+      return Vector::EmptyVector();
+    }
+  }
+
+  TypedVector AsTypedVector() const {
+    if (IsTypedVector()) {
+      return TypedVector(Indirect(), byte_width_,
+                         ToTypedVectorElementType(type_));
+    } else {
+      return TypedVector::EmptyTypedVector();
+    }
+  }
+
+  FixedTypedVector AsFixedTypedVector() const {
+    if (IsFixedTypedVector()) {
+      uint8_t len = 0;
+      auto vtype = ToFixedTypedVectorElementType(type_, &len);
+      return FixedTypedVector(Indirect(), byte_width_, vtype, len);
+    } else {
+      return FixedTypedVector::EmptyFixedTypedVector();
+    }
+  }
+
+  Map AsMap() const {
+    if (type_ == FBT_MAP) {
+      return Map(Indirect(), byte_width_);
+    } else {
+      return Map::EmptyMap();
+    }
+  }
+
+  template<typename T> T As() const;
+
+  // Experimental: Mutation functions.
+  // These allow scalars in an already created buffer to be updated in-place.
+  // Since by default scalars are stored in the smallest possible space,
+  // the new value may not fit, in which case these functions return false.
+  // To avoid this, you can construct the values you intend to mutate using
+  // Builder::ForceMinimumBitWidth.
+  bool MutateInt(int64_t i) {
+    if (type_ == FBT_INT) {
+      return Mutate(data_, i, parent_width_, WidthI(i));
+    } else if (type_ == FBT_INDIRECT_INT) {
+      return Mutate(Indirect(), i, byte_width_, WidthI(i));
+    } else if (type_ == FBT_UINT) {
+      auto u = static_cast<uint64_t>(i);
+      return Mutate(data_, u, parent_width_, WidthU(u));
+    } else if (type_ == FBT_INDIRECT_UINT) {
+      auto u = static_cast<uint64_t>(i);
+      return Mutate(Indirect(), u, byte_width_, WidthU(u));
+    } else {
+      return false;
+    }
+  }
+
+  bool MutateBool(bool b) {
+    return type_ == FBT_BOOL && Mutate(data_, b, parent_width_, BIT_WIDTH_8);
+  }
+
+  bool MutateUInt(uint64_t u) {
+    if (type_ == FBT_UINT) {
+      return Mutate(data_, u, parent_width_, WidthU(u));
+    } else if (type_ == FBT_INDIRECT_UINT) {
+      return Mutate(Indirect(), u, byte_width_, WidthU(u));
+    } else if (type_ == FBT_INT) {
+      auto i = static_cast<int64_t>(u);
+      return Mutate(data_, i, parent_width_, WidthI(i));
+    } else if (type_ == FBT_INDIRECT_INT) {
+      auto i = static_cast<int64_t>(u);
+      return Mutate(Indirect(), i, byte_width_, WidthI(i));
+    } else {
+      return false;
+    }
+  }
+
+  bool MutateFloat(float f) {
+    if (type_ == FBT_FLOAT) {
+      return MutateF(data_, f, parent_width_, BIT_WIDTH_32);
+    } else if (type_ == FBT_INDIRECT_FLOAT) {
+      return MutateF(Indirect(), f, byte_width_, BIT_WIDTH_32);
+    } else {
+      return false;
+    }
+  }
+
+  bool MutateFloat(double d) {
+    if (type_ == FBT_FLOAT) {
+      return MutateF(data_, d, parent_width_, WidthF(d));
+    } else if (type_ == FBT_INDIRECT_FLOAT) {
+      return MutateF(Indirect(), d, byte_width_, WidthF(d));
+    } else {
+      return false;
+    }
+  }
+
+  bool MutateString(const char *str, size_t len) {
+    auto s = AsString();
+    if (s.IsTheEmptyString()) return false;
+    // This is very strict, could allow shorter strings, but that creates
+    // garbage.
+    if (s.length() != len) return false;
+    memcpy(const_cast<char *>(s.c_str()), str, len);
+    return true;
+  }
+  bool MutateString(const char *str) { return MutateString(str, strlen(str)); }
+  bool MutateString(const std::string &str) {
+    return MutateString(str.data(), str.length());
+  }
+
+ private:
+  const uint8_t *Indirect() const {
+    return flexbuffers::Indirect(data_, parent_width_);
+  }
+
+  template<typename T>
+  bool Mutate(const uint8_t *dest, T t, size_t byte_width,
+              BitWidth value_width) {
+    auto fits = static_cast<size_t>(static_cast<size_t>(1U) << value_width) <=
+                byte_width;
+    if (fits) {
+      t = flatbuffers::EndianScalar(t);
+      memcpy(const_cast<uint8_t *>(dest), &t, byte_width);
+    }
+    return fits;
+  }
+
+  template<typename T>
+  bool MutateF(const uint8_t *dest, T t, size_t byte_width,
+               BitWidth value_width) {
+    if (byte_width == sizeof(double))
+      return Mutate(dest, static_cast<double>(t), byte_width, value_width);
+    if (byte_width == sizeof(float))
+      return Mutate(dest, static_cast<float>(t), byte_width, value_width);
+    FLATBUFFERS_ASSERT(false);
+    return false;
+  }
+
+  const uint8_t *data_;
+  uint8_t parent_width_;
+  uint8_t byte_width_;
+  Type type_;
+};
+
+// Template specialization for As().
+template<> inline bool Reference::As<bool>() const { return AsBool(); }
+
+template<> inline int8_t Reference::As<int8_t>() const { return AsInt8(); }
+template<> inline int16_t Reference::As<int16_t>() const { return AsInt16(); }
+template<> inline int32_t Reference::As<int32_t>() const { return AsInt32(); }
+template<> inline int64_t Reference::As<int64_t>() const { return AsInt64(); }
+
+template<> inline uint8_t Reference::As<uint8_t>() const { return AsUInt8(); }
+template<> inline uint16_t Reference::As<uint16_t>() const { return AsUInt16(); }
+template<> inline uint32_t Reference::As<uint32_t>() const { return AsUInt32(); }
+template<> inline uint64_t Reference::As<uint64_t>() const { return AsUInt64(); }
+
+template<> inline double Reference::As<double>() const { return AsDouble(); }
+template<> inline float Reference::As<float>() const { return AsFloat(); }
+
+template<> inline String Reference::As<String>() const { return AsString(); }
+template<> inline std::string Reference::As<std::string>() const {
+  return AsString().str();
+}
+
+template<> inline Blob Reference::As<Blob>() const { return AsBlob(); }
+template<> inline Vector Reference::As<Vector>() const { return AsVector(); }
+template<> inline TypedVector Reference::As<TypedVector>() const {
+  return AsTypedVector();
+}
+template<> inline FixedTypedVector Reference::As<FixedTypedVector>() const {
+  return AsFixedTypedVector();
+}
+template<> inline Map Reference::As<Map>() const { return AsMap(); }
+
+inline uint8_t PackedType(BitWidth bit_width, Type type) {
+  return static_cast<uint8_t>(bit_width | (type << 2));
+}
+
+inline uint8_t NullPackedType() { return PackedType(BIT_WIDTH_8, FBT_NULL); }
+
+// Vector accessors.
+// Note: if you try to access outside of bounds, you get a Null value back
+// instead. Normally this would be an assert, but since this is "dynamically
+// typed" data, you may not want that (someone sends you a 2d vector and you
+// wanted 3d).
+// The Null converts seamlessly into a default value for any other type.
+// TODO(wvo): Could introduce an #ifdef that makes this into an assert?
+inline Reference Vector::operator[](size_t i) const {
+  auto len = size();
+  if (i >= len) return Reference(nullptr, 1, NullPackedType());
+  auto packed_type = (data_ + len * byte_width_)[i];
+  auto elem = data_ + i * byte_width_;
+  return Reference(elem, byte_width_, packed_type);
+}
+
+inline Reference TypedVector::operator[](size_t i) const {
+  auto len = size();
+  if (i >= len) return Reference(nullptr, 1, NullPackedType());
+  auto elem = data_ + i * byte_width_;
+  return Reference(elem, byte_width_, 1, type_);
+}
+
+inline Reference FixedTypedVector::operator[](size_t i) const {
+  if (i >= len_) return Reference(nullptr, 1, NullPackedType());
+  auto elem = data_ + i * byte_width_;
+  return Reference(elem, byte_width_, 1, type_);
+}
+
+template<typename T> int KeyCompare(const void *key, const void *elem) {
+  auto str_elem = reinterpret_cast<const char *>(
+      Indirect<T>(reinterpret_cast<const uint8_t *>(elem)));
+  auto skey = reinterpret_cast<const char *>(key);
+  return strcmp(skey, str_elem);
+}
+
+inline Reference Map::operator[](const char *key) const {
+  auto keys = Keys();
+  // We can't pass keys.byte_width_ to the comparison function, so we have
+  // to pick the right one ahead of time.
+  int (*comp)(const void *, const void *) = nullptr;
+  switch (keys.byte_width_) {
+    case 1: comp = KeyCompare<uint8_t>; break;
+    case 2: comp = KeyCompare<uint16_t>; break;
+    case 4: comp = KeyCompare<uint32_t>; break;
+    case 8: comp = KeyCompare<uint64_t>; break;
+  }
+  auto res = std::bsearch(key, keys.data_, keys.size(), keys.byte_width_, comp);
+  if (!res) return Reference(nullptr, 1, NullPackedType());
+  auto i = (reinterpret_cast<uint8_t *>(res) - keys.data_) / keys.byte_width_;
+  return (*static_cast<const Vector *>(this))[i];
+}
+
+inline Reference Map::operator[](const std::string &key) const {
+  return (*this)[key.c_str()];
+}
+
+inline Reference GetRoot(const uint8_t *buffer, size_t size) {
+  // See Finish() below for the serialization counterpart of this.
+  // The root starts at the end of the buffer, so we parse backwards from there.
+  auto end = buffer + size;
+  auto byte_width = *--end;
+  auto packed_type = *--end;
+  end -= byte_width;  // The root data item.
+  return Reference(end, byte_width, packed_type);
+}
+
+inline Reference GetRoot(const std::vector<uint8_t> &buffer) {
+  return GetRoot(flatbuffers::vector_data(buffer), buffer.size());
+}
+
+// Flags that configure how the Builder behaves.
+// The "Share" flags determine if the Builder automatically tries to pool
+// this type. Pooling can reduce the size of serialized data if there are
+// multiple maps of the same kind, at the expense of slightly slower
+// serialization (the cost of lookups) and more memory use (std::set).
+// By default this is on for keys, but off for strings.
+// Turn keys off if you have e.g. only one map.
+// Turn strings on if you expect many non-unique string values.
+// Additionally, sharing key vectors can save space if you have maps with
+// identical field populations.
+enum BuilderFlag {
+  BUILDER_FLAG_NONE = 0,
+  BUILDER_FLAG_SHARE_KEYS = 1,
+  BUILDER_FLAG_SHARE_STRINGS = 2,
+  BUILDER_FLAG_SHARE_KEYS_AND_STRINGS = 3,
+  BUILDER_FLAG_SHARE_KEY_VECTORS = 4,
+  BUILDER_FLAG_SHARE_ALL = 7,
+};
+
+class Builder FLATBUFFERS_FINAL_CLASS {
+ public:
+  Builder(size_t initial_size = 256,
+          BuilderFlag flags = BUILDER_FLAG_SHARE_KEYS)
+      : buf_(initial_size),
+        finished_(false),
+        flags_(flags),
+        force_min_bit_width_(BIT_WIDTH_8),
+        key_pool(KeyOffsetCompare(buf_)),
+        string_pool(StringOffsetCompare(buf_)) {
+    buf_.clear();
+  }
+
+  /// @brief Get the serialized buffer (after you call `Finish()`).
+  /// @return Returns a vector owned by this class.
+  const std::vector<uint8_t> &GetBuffer() const {
+    Finished();
+    return buf_;
+  }
+
+  // Size of the buffer. Does not include unfinished values.
+  size_t GetSize() const { return buf_.size(); }
+
+  // Reset all state so we can re-use the buffer.
+  void Clear() {
+    buf_.clear();
+    stack_.clear();
+    finished_ = false;
+    // flags_ remains as-is;
+    force_min_bit_width_ = BIT_WIDTH_8;
+    key_pool.clear();
+    string_pool.clear();
+  }
+
+  // All value constructing functions below have two versions: one that
+  // takes a key (for placement inside a map) and one that doesn't (for inside
+  // vectors and elsewhere).
+
+  void Null() { stack_.push_back(Value()); }
+  void Null(const char *key) {
+    Key(key);
+    Null();
+  }
+
+  void Int(int64_t i) { stack_.push_back(Value(i, FBT_INT, WidthI(i))); }
+  void Int(const char *key, int64_t i) {
+    Key(key);
+    Int(i);
+  }
+
+  void UInt(uint64_t u) { stack_.push_back(Value(u, FBT_UINT, WidthU(u))); }
+  void UInt(const char *key, uint64_t u) {
+    Key(key);
+    UInt(u);
+  }
+
+  void Float(float f) { stack_.push_back(Value(f)); }
+  void Float(const char *key, float f) {
+    Key(key);
+    Float(f);
+  }
+
+  void Double(double f) { stack_.push_back(Value(f)); }
+  void Double(const char *key, double d) {
+    Key(key);
+    Double(d);
+  }
+
+  void Bool(bool b) { stack_.push_back(Value(b)); }
+  void Bool(const char *key, bool b) {
+    Key(key);
+    Bool(b);
+  }
+
+  void IndirectInt(int64_t i) { PushIndirect(i, FBT_INDIRECT_INT, WidthI(i)); }
+  void IndirectInt(const char *key, int64_t i) {
+    Key(key);
+    IndirectInt(i);
+  }
+
+  void IndirectUInt(uint64_t u) {
+    PushIndirect(u, FBT_INDIRECT_UINT, WidthU(u));
+  }
+  void IndirectUInt(const char *key, uint64_t u) {
+    Key(key);
+    IndirectUInt(u);
+  }
+
+  void IndirectFloat(float f) {
+    PushIndirect(f, FBT_INDIRECT_FLOAT, BIT_WIDTH_32);
+  }
+  void IndirectFloat(const char *key, float f) {
+    Key(key);
+    IndirectFloat(f);
+  }
+
+  void IndirectDouble(double f) {
+    PushIndirect(f, FBT_INDIRECT_FLOAT, WidthF(f));
+  }
+  void IndirectDouble(const char *key, double d) {
+    Key(key);
+    IndirectDouble(d);
+  }
+
+  size_t Key(const char *str, size_t len) {
+    auto sloc = buf_.size();
+    WriteBytes(str, len + 1);
+    if (flags_ & BUILDER_FLAG_SHARE_KEYS) {
+      auto it = key_pool.find(sloc);
+      if (it != key_pool.end()) {
+        // Already in the buffer. Remove key we just serialized, and use
+        // existing offset instead.
+        buf_.resize(sloc);
+        sloc = *it;
+      } else {
+        key_pool.insert(sloc);
+      }
+    }
+    stack_.push_back(Value(static_cast<uint64_t>(sloc), FBT_KEY, BIT_WIDTH_8));
+    return sloc;
+  }
+
+  size_t Key(const char *str) { return Key(str, strlen(str)); }
+  size_t Key(const std::string &str) { return Key(str.c_str(), str.size()); }
+
+  size_t String(const char *str, size_t len) {
+    auto reset_to = buf_.size();
+    auto sloc = CreateBlob(str, len, 1, FBT_STRING);
+    if (flags_ & BUILDER_FLAG_SHARE_STRINGS) {
+      StringOffset so(sloc, len);
+      auto it = string_pool.find(so);
+      if (it != string_pool.end()) {
+        // Already in the buffer. Remove string we just serialized, and use
+        // existing offset instead.
+        buf_.resize(reset_to);
+        sloc = it->first;
+        stack_.back().u_ = sloc;
+      } else {
+        string_pool.insert(so);
+      }
+    }
+    return sloc;
+  }
+  size_t String(const char *str) { return String(str, strlen(str)); }
+  size_t String(const std::string &str) {
+    return String(str.c_str(), str.size());
+  }
+  void String(const flexbuffers::String &str) {
+    String(str.c_str(), str.length());
+  }
+
+  void String(const char *key, const char *str) {
+    Key(key);
+    String(str);
+  }
+  void String(const char *key, const std::string &str) {
+    Key(key);
+    String(str);
+  }
+  void String(const char *key, const flexbuffers::String &str) {
+    Key(key);
+    String(str);
+  }
+
+  size_t Blob(const void *data, size_t len) {
+    return CreateBlob(data, len, 0, FBT_BLOB);
+  }
+  size_t Blob(const std::vector<uint8_t> &v) {
+    return CreateBlob(flatbuffers::vector_data(v), v.size(), 0, FBT_BLOB);
+  }
+
+  // TODO(wvo): support all the FlexBuffer types (like flexbuffers::String),
+  // e.g. Vector etc. Also in overloaded versions.
+  // Also some FlatBuffers types?
+
+  size_t StartVector() { return stack_.size(); }
+  size_t StartVector(const char *key) {
+    Key(key);
+    return stack_.size();
+  }
+  size_t StartMap() { return stack_.size(); }
+  size_t StartMap(const char *key) {
+    Key(key);
+    return stack_.size();
+  }
+
+  // TODO(wvo): allow this to specify an aligment greater than the natural
+  // alignment.
+  size_t EndVector(size_t start, bool typed, bool fixed) {
+    auto vec = CreateVector(start, stack_.size() - start, 1, typed, fixed);
+    // Remove temp elements and return vector.
+    stack_.resize(start);
+    stack_.push_back(vec);
+    return static_cast<size_t>(vec.u_);
+  }
+
+  size_t EndMap(size_t start) {
+    // We should have interleaved keys and values on the stack.
+    // Make sure it is an even number:
+    auto len = stack_.size() - start;
+    FLATBUFFERS_ASSERT(!(len & 1));
+    len /= 2;
+    // Make sure keys are all strings:
+    for (auto key = start; key < stack_.size(); key += 2) {
+      FLATBUFFERS_ASSERT(stack_[key].type_ == FBT_KEY);
+    }
+    // Now sort values, so later we can do a binary seach lookup.
+    // We want to sort 2 array elements at a time.
+    struct TwoValue {
+      Value key;
+      Value val;
+    };
+    // TODO(wvo): strict aliasing?
+    // TODO(wvo): allow the caller to indicate the data is already sorted
+    // for maximum efficiency? With an assert to check sortedness to make sure
+    // we're not breaking binary search.
+    // Or, we can track if the map is sorted as keys are added which would be
+    // be quite cheap (cheaper than checking it here), so we can skip this
+    // step automatically when appliccable, and encourage people to write in
+    // sorted fashion.
+    // std::sort is typically already a lot faster on sorted data though.
+    auto dict =
+        reinterpret_cast<TwoValue *>(flatbuffers::vector_data(stack_) + start);
+    std::sort(dict, dict + len,
+              [&](const TwoValue &a, const TwoValue &b) -> bool {
+                auto as = reinterpret_cast<const char *>(
+                    flatbuffers::vector_data(buf_) + a.key.u_);
+                auto bs = reinterpret_cast<const char *>(
+                    flatbuffers::vector_data(buf_) + b.key.u_);
+                auto comp = strcmp(as, bs);
+                // If this assertion hits, you've added two keys with the same
+                // value to this map.
+                // TODO: Have to check for pointer equality, as some sort
+                // implementation apparently call this function with the same
+                // element?? Why?
+                FLATBUFFERS_ASSERT(comp || &a == &b);
+                return comp < 0;
+              });
+    // First create a vector out of all keys.
+    // TODO(wvo): if kBuilderFlagShareKeyVectors is true, see if we can share
+    // the first vector.
+    auto keys = CreateVector(start, len, 2, true, false);
+    auto vec = CreateVector(start + 1, len, 2, false, false, &keys);
+    // Remove temp elements and return map.
+    stack_.resize(start);
+    stack_.push_back(vec);
+    return static_cast<size_t>(vec.u_);
+  }
+
+  template<typename F> size_t Vector(F f) {
+    auto start = StartVector();
+    f();
+    return EndVector(start, false, false);
+  }
+  template<typename F, typename T> size_t Vector(F f, T &state) {
+    auto start = StartVector();
+    f(state);
+    return EndVector(start, false, false);
+  }
+  template<typename F> size_t Vector(const char *key, F f) {
+    auto start = StartVector(key);
+    f();
+    return EndVector(start, false, false);
+  }
+  template<typename F, typename T>
+  size_t Vector(const char *key, F f, T &state) {
+    auto start = StartVector(key);
+    f(state);
+    return EndVector(start, false, false);
+  }
+
+  template<typename T> void Vector(const T *elems, size_t len) {
+    if (flatbuffers::is_scalar<T>::value) {
+      // This path should be a lot quicker and use less space.
+      ScalarVector(elems, len, false);
+    } else {
+      auto start = StartVector();
+      for (size_t i = 0; i < len; i++) Add(elems[i]);
+      EndVector(start, false, false);
+    }
+  }
+  template<typename T>
+  void Vector(const char *key, const T *elems, size_t len) {
+    Key(key);
+    Vector(elems, len);
+  }
+  template<typename T> void Vector(const std::vector<T> &vec) {
+    Vector(flatbuffers::vector_data(vec), vec.size());
+  }
+
+  template<typename F> size_t TypedVector(F f) {
+    auto start = StartVector();
+    f();
+    return EndVector(start, true, false);
+  }
+  template<typename F, typename T> size_t TypedVector(F f, T &state) {
+    auto start = StartVector();
+    f(state);
+    return EndVector(start, true, false);
+  }
+  template<typename F> size_t TypedVector(const char *key, F f) {
+    auto start = StartVector(key);
+    f();
+    return EndVector(start, true, false);
+  }
+  template<typename F, typename T>
+  size_t TypedVector(const char *key, F f, T &state) {
+    auto start = StartVector(key);
+    f(state);
+    return EndVector(start, true, false);
+  }
+
+  template<typename T> size_t FixedTypedVector(const T *elems, size_t len) {
+    // We only support a few fixed vector lengths. Anything bigger use a
+    // regular typed vector.
+    FLATBUFFERS_ASSERT(len >= 2 && len <= 4);
+    // And only scalar values.
+    static_assert(flatbuffers::is_scalar<T>::value, "Unrelated types");
+    return ScalarVector(elems, len, true);
+  }
+
+  template<typename T>
+  size_t FixedTypedVector(const char *key, const T *elems, size_t len) {
+    Key(key);
+    return FixedTypedVector(elems, len);
+  }
+
+  template<typename F> size_t Map(F f) {
+    auto start = StartMap();
+    f();
+    return EndMap(start);
+  }
+  template<typename F, typename T> size_t Map(F f, T &state) {
+    auto start = StartMap();
+    f(state);
+    return EndMap(start);
+  }
+  template<typename F> size_t Map(const char *key, F f) {
+    auto start = StartMap(key);
+    f();
+    return EndMap(start);
+  }
+  template<typename F, typename T> size_t Map(const char *key, F f, T &state) {
+    auto start = StartMap(key);
+    f(state);
+    return EndMap(start);
+  }
+  template<typename T> void Map(const std::map<std::string, T> &map) {
+    auto start = StartMap();
+    for (auto it = map.begin(); it != map.end(); ++it)
+      Add(it->first.c_str(), it->second);
+    EndMap(start);
+  }
+
+  // Overloaded Add that tries to call the correct function above.
+  void Add(int8_t i) { Int(i); }
+  void Add(int16_t i) { Int(i); }
+  void Add(int32_t i) { Int(i); }
+  void Add(int64_t i) { Int(i); }
+  void Add(uint8_t u) { UInt(u); }
+  void Add(uint16_t u) { UInt(u); }
+  void Add(uint32_t u) { UInt(u); }
+  void Add(uint64_t u) { UInt(u); }
+  void Add(float f) { Float(f); }
+  void Add(double d) { Double(d); }
+  void Add(bool b) { Bool(b); }
+  void Add(const char *str) { String(str); }
+  void Add(const std::string &str) { String(str); }
+  void Add(const flexbuffers::String &str) { String(str); }
+
+  template<typename T> void Add(const std::vector<T> &vec) { Vector(vec); }
+
+  template<typename T> void Add(const char *key, const T &t) {
+    Key(key);
+    Add(t);
+  }
+
+  template<typename T> void Add(const std::map<std::string, T> &map) {
+    Map(map);
+  }
+
+  template<typename T> void operator+=(const T &t) { Add(t); }
+
+  // This function is useful in combination with the Mutate* functions above.
+  // It forces elements of vectors and maps to have a minimum size, such that
+  // they can later be updated without failing.
+  // Call with no arguments to reset.
+  void ForceMinimumBitWidth(BitWidth bw = BIT_WIDTH_8) {
+    force_min_bit_width_ = bw;
+  }
+
+  void Finish() {
+    // If you hit this assert, you likely have objects that were never included
+    // in a parent. You need to have exactly one root to finish a buffer.
+    // Check your Start/End calls are matched, and all objects are inside
+    // some other object.
+    FLATBUFFERS_ASSERT(stack_.size() == 1);
+
+    // Write root value.
+    auto byte_width = Align(stack_[0].ElemWidth(buf_.size(), 0));
+    WriteAny(stack_[0], byte_width);
+    // Write root type.
+    Write(stack_[0].StoredPackedType(), 1);
+    // Write root size. Normally determined by parent, but root has no parent :)
+    Write(byte_width, 1);
+
+    finished_ = true;
+  }
+
+ private:
+  void Finished() const {
+    // If you get this assert, you're attempting to get access a buffer
+    // which hasn't been finished yet. Be sure to call
+    // Builder::Finish with your root object.
+    FLATBUFFERS_ASSERT(finished_);
+  }
+
+  // Align to prepare for writing a scalar with a certain size.
+  uint8_t Align(BitWidth alignment) {
+    auto byte_width = 1U << alignment;
+    buf_.insert(buf_.end(), flatbuffers::PaddingBytes(buf_.size(), byte_width),
+                0);
+    return static_cast<uint8_t>(byte_width);
+  }
+
+  void WriteBytes(const void *val, size_t size) {
+    buf_.insert(buf_.end(), reinterpret_cast<const uint8_t *>(val),
+                reinterpret_cast<const uint8_t *>(val) + size);
+  }
+
+  template<typename T> void Write(T val, size_t byte_width) {
+    FLATBUFFERS_ASSERT(sizeof(T) >= byte_width);
+    val = flatbuffers::EndianScalar(val);
+    WriteBytes(&val, byte_width);
+  }
+
+  void WriteDouble(double f, uint8_t byte_width) {
+    switch (byte_width) {
+      case 8: Write(f, byte_width); break;
+      case 4: Write(static_cast<float>(f), byte_width); break;
+      // case 2: Write(static_cast<half>(f), byte_width); break;
+      // case 1: Write(static_cast<quarter>(f), byte_width); break;
+      default: FLATBUFFERS_ASSERT(0);
+    }
+  }
+
+  void WriteOffset(uint64_t o, uint8_t byte_width) {
+    auto reloff = buf_.size() - o;
+    FLATBUFFERS_ASSERT(byte_width == 8 || reloff < 1ULL << (byte_width * 8));
+    Write(reloff, byte_width);
+  }
+
+  template<typename T> void PushIndirect(T val, Type type, BitWidth bit_width) {
+    auto byte_width = Align(bit_width);
+    auto iloc = buf_.size();
+    Write(val, byte_width);
+    stack_.push_back(Value(static_cast<uint64_t>(iloc), type, bit_width));
+  }
+
+  static BitWidth WidthB(size_t byte_width) {
+    switch (byte_width) {
+      case 1: return BIT_WIDTH_8;
+      case 2: return BIT_WIDTH_16;
+      case 4: return BIT_WIDTH_32;
+      case 8: return BIT_WIDTH_64;
+      default: FLATBUFFERS_ASSERT(false); return BIT_WIDTH_64;
+    }
+  }
+
+  template<typename T> static Type GetScalarType() {
+    static_assert(flatbuffers::is_scalar<T>::value, "Unrelated types");
+    return flatbuffers::is_floating_point<T>::value
+               ? FBT_FLOAT
+               : flatbuffers::is_same<T, bool>::value
+                     ? FBT_BOOL
+                     : (flatbuffers::is_unsigned<T>::value ? FBT_UINT
+                                                           : FBT_INT);
+  }
+
+  struct Value {
+    union {
+      int64_t i_;
+      uint64_t u_;
+      double f_;
+    };
+
+    Type type_;
+
+    // For scalars: of itself, for vector: of its elements, for string: length.
+    BitWidth min_bit_width_;
+
+    Value() : i_(0), type_(FBT_NULL), min_bit_width_(BIT_WIDTH_8) {}
+
+    Value(bool b)
+        : u_(static_cast<uint64_t>(b)),
+          type_(FBT_BOOL),
+          min_bit_width_(BIT_WIDTH_8) {}
+
+    Value(int64_t i, Type t, BitWidth bw)
+        : i_(i), type_(t), min_bit_width_(bw) {}
+    Value(uint64_t u, Type t, BitWidth bw)
+        : u_(u), type_(t), min_bit_width_(bw) {}
+
+    Value(float f) : f_(f), type_(FBT_FLOAT), min_bit_width_(BIT_WIDTH_32) {}
+    Value(double f) : f_(f), type_(FBT_FLOAT), min_bit_width_(WidthF(f)) {}
+
+    uint8_t StoredPackedType(BitWidth parent_bit_width_ = BIT_WIDTH_8) const {
+      return PackedType(StoredWidth(parent_bit_width_), type_);
+    }
+
+    BitWidth ElemWidth(size_t buf_size, size_t elem_index) const {
+      if (IsInline(type_)) {
+        return min_bit_width_;
+      } else {
+        // We have an absolute offset, but want to store a relative offset
+        // elem_index elements beyond the current buffer end. Since whether
+        // the relative offset fits in a certain byte_width depends on
+        // the size of the elements before it (and their alignment), we have
+        // to test for each size in turn.
+        for (size_t byte_width = 1;
+             byte_width <= sizeof(flatbuffers::largest_scalar_t);
+             byte_width *= 2) {
+          // Where are we going to write this offset?
+          auto offset_loc = buf_size +
+                            flatbuffers::PaddingBytes(buf_size, byte_width) +
+                            elem_index * byte_width;
+          // Compute relative offset.
+          auto offset = offset_loc - u_;
+          // Does it fit?
+          auto bit_width = WidthU(offset);
+          if (static_cast<size_t>(static_cast<size_t>(1U) << bit_width) ==
+              byte_width)
+            return bit_width;
+        }
+        FLATBUFFERS_ASSERT(false);  // Must match one of the sizes above.
+        return BIT_WIDTH_64;
+      }
+    }
+
+    BitWidth StoredWidth(BitWidth parent_bit_width_ = BIT_WIDTH_8) const {
+      if (IsInline(type_)) {
+        return (std::max)(min_bit_width_, parent_bit_width_);
+      } else {
+        return min_bit_width_;
+      }
+    }
+  };
+
+  void WriteAny(const Value &val, uint8_t byte_width) {
+    switch (val.type_) {
+      case FBT_NULL:
+      case FBT_INT: Write(val.i_, byte_width); break;
+      case FBT_BOOL:
+      case FBT_UINT: Write(val.u_, byte_width); break;
+      case FBT_FLOAT: WriteDouble(val.f_, byte_width); break;
+      default: WriteOffset(val.u_, byte_width); break;
+    }
+  }
+
+  size_t CreateBlob(const void *data, size_t len, size_t trailing, Type type) {
+    auto bit_width = WidthU(len);
+    auto byte_width = Align(bit_width);
+    Write<uint64_t>(len, byte_width);
+    auto sloc = buf_.size();
+    WriteBytes(data, len + trailing);
+    stack_.push_back(Value(static_cast<uint64_t>(sloc), type, bit_width));
+    return sloc;
+  }
+
+  template<typename T>
+  size_t ScalarVector(const T *elems, size_t len, bool fixed) {
+    auto vector_type = GetScalarType<T>();
+    auto byte_width = sizeof(T);
+    auto bit_width = WidthB(byte_width);
+    // If you get this assert, you're trying to write a vector with a size
+    // field that is bigger than the scalars you're trying to write (e.g. a
+    // byte vector > 255 elements). For such types, write a "blob" instead.
+    // TODO: instead of asserting, could write vector with larger elements
+    // instead, though that would be wasteful.
+    FLATBUFFERS_ASSERT(WidthU(len) <= bit_width);
+    if (!fixed) Write<uint64_t>(len, byte_width);
+    auto vloc = buf_.size();
+    for (size_t i = 0; i < len; i++) Write(elems[i], byte_width);
+    stack_.push_back(Value(static_cast<uint64_t>(vloc),
+                           ToTypedVector(vector_type, fixed ? len : 0),
+                           bit_width));
+    return vloc;
+  }
+
+  Value CreateVector(size_t start, size_t vec_len, size_t step, bool typed,
+                     bool fixed, const Value *keys = nullptr) {
+    FLATBUFFERS_ASSERT(!fixed || typed); // typed=false, fixed=true combination is not supported.
+    // Figure out smallest bit width we can store this vector with.
+    auto bit_width = (std::max)(force_min_bit_width_, WidthU(vec_len));
+    auto prefix_elems = 1;
+    if (keys) {
+      // If this vector is part of a map, we will pre-fix an offset to the keys
+      // to this vector.
+      bit_width = (std::max)(bit_width, keys->ElemWidth(buf_.size(), 0));
+      prefix_elems += 2;
+    }
+    Type vector_type = FBT_KEY;
+    // Check bit widths and types for all elements.
+    for (size_t i = start; i < stack_.size(); i += step) {
+      auto elem_width = stack_[i].ElemWidth(buf_.size(), i + prefix_elems);
+      bit_width = (std::max)(bit_width, elem_width);
+      if (typed) {
+        if (i == start) {
+          vector_type = stack_[i].type_;
+        } else {
+          // If you get this assert, you are writing a typed vector with
+          // elements that are not all the same type.
+          FLATBUFFERS_ASSERT(vector_type == stack_[i].type_);
+        }
+      }
+    }
+    // If you get this assert, your fixed types are not one of:
+    // Int / UInt / Float / Key.
+    FLATBUFFERS_ASSERT(!fixed || IsTypedVectorElementType(vector_type));
+    auto byte_width = Align(bit_width);
+    // Write vector. First the keys width/offset if available, and size.
+    if (keys) {
+      WriteOffset(keys->u_, byte_width);
+      Write<uint64_t>(1ULL << keys->min_bit_width_, byte_width);
+    }
+    if (!fixed) Write<uint64_t>(vec_len, byte_width);
+    // Then the actual data.
+    auto vloc = buf_.size();
+    for (size_t i = start; i < stack_.size(); i += step) {
+      WriteAny(stack_[i], byte_width);
+    }
+    // Then the types.
+    if (!typed) {
+      for (size_t i = start; i < stack_.size(); i += step) {
+        buf_.push_back(stack_[i].StoredPackedType(bit_width));
+      }
+    }
+    return Value(static_cast<uint64_t>(vloc),
+                 keys ? FBT_MAP
+                      : (typed ? ToTypedVector(vector_type, fixed ? vec_len : 0)
+                               : FBT_VECTOR),
+                 bit_width);
+  }
+
+  // You shouldn't really be copying instances of this class.
+  Builder(const Builder &);
+  Builder &operator=(const Builder &);
+
+  std::vector<uint8_t> buf_;
+  std::vector<Value> stack_;
+
+  bool finished_;
+
+  BuilderFlag flags_;
+
+  BitWidth force_min_bit_width_;
+
+  struct KeyOffsetCompare {
+    explicit KeyOffsetCompare(const std::vector<uint8_t> &buf) : buf_(&buf) {}
+    bool operator()(size_t a, size_t b) const {
+      auto stra =
+          reinterpret_cast<const char *>(flatbuffers::vector_data(*buf_) + a);
+      auto strb =
+          reinterpret_cast<const char *>(flatbuffers::vector_data(*buf_) + b);
+      return strcmp(stra, strb) < 0;
+    }
+    const std::vector<uint8_t> *buf_;
+  };
+
+  typedef std::pair<size_t, size_t> StringOffset;
+  struct StringOffsetCompare {
+    explicit StringOffsetCompare(const std::vector<uint8_t> &buf) : buf_(&buf) {}
+    bool operator()(const StringOffset &a, const StringOffset &b) const {
+      auto stra = reinterpret_cast<const char *>(
+          flatbuffers::vector_data(*buf_) + a.first);
+      auto strb = reinterpret_cast<const char *>(
+          flatbuffers::vector_data(*buf_) + b.first);
+      return strncmp(stra, strb, (std::min)(a.second, b.second) + 1) < 0;
+    }
+    const std::vector<uint8_t> *buf_;
+  };
+
+  typedef std::set<size_t, KeyOffsetCompare> KeyOffsetMap;
+  typedef std::set<StringOffset, StringOffsetCompare> StringOffsetMap;
+
+  KeyOffsetMap key_pool;
+  StringOffsetMap string_pool;
+};
+
+}  // namespace flexbuffers
+
+#  if defined(_MSC_VER)
+#    pragma warning(pop)
+#  endif
+
+#endif  // FLATBUFFERS_FLEXBUFFERS_H_
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/hash.h b/host/lib/deps/flatbuffers/include/flatbuffers/hash.h
new file mode 100644
index 000000000..16536cb49
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/hash.h
@@ -0,0 +1,127 @@
+/*
+ * Copyright 2015 Google Inc. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef FLATBUFFERS_HASH_H_
+#define FLATBUFFERS_HASH_H_
+
+#include <cstdint>
+#include <cstring>
+
+#include "flatbuffers/flatbuffers.h"
+
+namespace flatbuffers {
+
+template<typename T> struct FnvTraits {
+  static const T kFnvPrime;
+  static const T kOffsetBasis;
+};
+
+template<> struct FnvTraits<uint32_t> {
+  static const uint32_t kFnvPrime = 0x01000193;
+  static const uint32_t kOffsetBasis = 0x811C9DC5;
+};
+
+template<> struct FnvTraits<uint64_t> {
+  static const uint64_t kFnvPrime = 0x00000100000001b3ULL;
+  static const uint64_t kOffsetBasis = 0xcbf29ce484222645ULL;
+};
+
+template<typename T> T HashFnv1(const char *input) {
+  T hash = FnvTraits<T>::kOffsetBasis;
+  for (const char *c = input; *c; ++c) {
+    hash *= FnvTraits<T>::kFnvPrime;
+    hash ^= static_cast<unsigned char>(*c);
+  }
+  return hash;
+}
+
+template<typename T> T HashFnv1a(const char *input) {
+  T hash = FnvTraits<T>::kOffsetBasis;
+  for (const char *c = input; *c; ++c) {
+    hash ^= static_cast<unsigned char>(*c);
+    hash *= FnvTraits<T>::kFnvPrime;
+  }
+  return hash;
+}
+
+template <> inline uint16_t HashFnv1<uint16_t>(const char *input) {
+  uint32_t hash = HashFnv1<uint32_t>(input);
+  return (hash >> 16) ^ (hash & 0xffff);
+}
+
+template <> inline uint16_t HashFnv1a<uint16_t>(const char *input) {
+  uint32_t hash = HashFnv1a<uint32_t>(input);
+  return (hash >> 16) ^ (hash & 0xffff);
+}
+
+template <typename T> struct NamedHashFunction {
+  const char *name;
+
+  typedef T (*HashFunction)(const char *);
+  HashFunction function;
+};
+
+const NamedHashFunction<uint16_t> kHashFunctions16[] = {
+  { "fnv1_16",  HashFnv1<uint16_t> },
+  { "fnv1a_16", HashFnv1a<uint16_t> },
+};
+
+const NamedHashFunction<uint32_t> kHashFunctions32[] = {
+  { "fnv1_32", HashFnv1<uint32_t> },
+  { "fnv1a_32", HashFnv1a<uint32_t> },
+};
+
+const NamedHashFunction<uint64_t> kHashFunctions64[] = {
+  { "fnv1_64", HashFnv1<uint64_t> },
+  { "fnv1a_64", HashFnv1a<uint64_t> },
+};
+
+inline NamedHashFunction<uint16_t>::HashFunction FindHashFunction16(
+    const char *name) {
+  std::size_t size = sizeof(kHashFunctions16) / sizeof(kHashFunctions16[0]);
+  for (std::size_t i = 0; i < size; ++i) {
+    if (std::strcmp(name, kHashFunctions16[i].name) == 0) {
+      return kHashFunctions16[i].function;
+    }
+  }
+  return nullptr;
+}
+
+inline NamedHashFunction<uint32_t>::HashFunction FindHashFunction32(
+    const char *name) {
+  std::size_t size = sizeof(kHashFunctions32) / sizeof(kHashFunctions32[0]);
+  for (std::size_t i = 0; i < size; ++i) {
+    if (std::strcmp(name, kHashFunctions32[i].name) == 0) {
+      return kHashFunctions32[i].function;
+    }
+  }
+  return nullptr;
+}
+
+inline NamedHashFunction<uint64_t>::HashFunction FindHashFunction64(
+    const char *name) {
+  std::size_t size = sizeof(kHashFunctions64) / sizeof(kHashFunctions64[0]);
+  for (std::size_t i = 0; i < size; ++i) {
+    if (std::strcmp(name, kHashFunctions64[i].name) == 0) {
+      return kHashFunctions64[i].function;
+    }
+  }
+  return nullptr;
+}
+
+}  // namespace flatbuffers
+
+#endif  // FLATBUFFERS_HASH_H_
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/idl.h b/host/lib/deps/flatbuffers/include/flatbuffers/idl.h
new file mode 100644
index 000000000..8299fe0cf
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/idl.h
@@ -0,0 +1,995 @@
+/*
+ * Copyright 2014 Google Inc. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef FLATBUFFERS_IDL_H_
+#define FLATBUFFERS_IDL_H_
+
+#include <map>
+#include <memory>
+#include <stack>
+
+#include "flatbuffers/base.h"
+#include "flatbuffers/flatbuffers.h"
+#include "flatbuffers/flexbuffers.h"
+#include "flatbuffers/hash.h"
+#include "flatbuffers/reflection.h"
+
+#if !defined(FLATBUFFERS_CPP98_STL)
+#  include <functional>
+#endif  // !defined(FLATBUFFERS_CPP98_STL)
+
+// This file defines the data types representing a parsed IDL (Interface
+// Definition Language) / schema file.
+
+// Limits maximum depth of nested objects.
+// Prevents stack overflow while parse flatbuffers or json.
+#if !defined(FLATBUFFERS_MAX_PARSING_DEPTH)
+#  define FLATBUFFERS_MAX_PARSING_DEPTH 64
+#endif
+
+namespace flatbuffers {
+
+// The order of these matters for Is*() functions below.
+// Additionally, Parser::ParseType assumes bool..string is a contiguous range
+// of type tokens.
+// clang-format off
+#define FLATBUFFERS_GEN_TYPES_SCALAR(TD) \
+  TD(NONE,   "",       uint8_t,  byte,   byte,    byte,   uint8,   u8) \
+  TD(UTYPE,  "",       uint8_t,  byte,   byte,    byte,   uint8,   u8) /* begin scalar/int */ \
+  TD(BOOL,   "bool",   uint8_t,  boolean,bool,    bool,   bool,    bool) \
+  TD(CHAR,   "byte",   int8_t,   byte,   int8,    sbyte,  int8,    i8) \
+  TD(UCHAR,  "ubyte",  uint8_t,  byte,   byte,    byte,   uint8,   u8) \
+  TD(SHORT,  "short",  int16_t,  short,  int16,   short,  int16,   i16) \
+  TD(USHORT, "ushort", uint16_t, short,  uint16,  ushort, uint16,  u16) \
+  TD(INT,    "int",    int32_t,  int,    int32,   int,    int32,   i32) \
+  TD(UINT,   "uint",   uint32_t, int,    uint32,  uint,   uint32,  u32) \
+  TD(LONG,   "long",   int64_t,  long,   int64,   long,   int64,   i64) \
+  TD(ULONG,  "ulong",  uint64_t, long,   uint64,  ulong,  uint64,  u64) /* end int */ \
+  TD(FLOAT,  "float",  float,    float,  float32, float,  float32, f32) /* begin float */ \
+  TD(DOUBLE, "double", double,   double, float64, double, float64, f64) /* end float/scalar */
+#define FLATBUFFERS_GEN_TYPES_POINTER(TD) \
+  TD(STRING, "string", Offset<void>, int, int, StringOffset, int, unused) \
+  TD(VECTOR, "",       Offset<void>, int, int, VectorOffset, int, unused) \
+  TD(STRUCT, "",       Offset<void>, int, int, int,          int, unused) \
+  TD(UNION,  "",       Offset<void>, int, int, int,          int, unused)
+
+// The fields are:
+// - enum
+// - FlatBuffers schema type.
+// - C++ type.
+// - Java type.
+// - Go type.
+// - C# / .Net type.
+// - Python type.
+// - Rust type.
+
+// using these macros, we can now write code dealing with types just once, e.g.
+
+/*
+switch (type) {
+  #define FLATBUFFERS_TD(ENUM, IDLTYPE, CTYPE, JTYPE, GTYPE, NTYPE, PTYPE, \
+                         RTYPE) \
+    case BASE_TYPE_ ## ENUM: \
+      // do something specific to CTYPE here
+    FLATBUFFERS_GEN_TYPES(FLATBUFFERS_TD)
+  #undef FLATBUFFERS_TD
+}
+*/
+
+#define FLATBUFFERS_GEN_TYPES(TD) \
+        FLATBUFFERS_GEN_TYPES_SCALAR(TD) \
+        FLATBUFFERS_GEN_TYPES_POINTER(TD)
+
+// Create an enum for all the types above.
+#ifdef __GNUC__
+__extension__  // Stop GCC complaining about trailing comma with -Wpendantic.
+#endif
+enum BaseType {
+  #define FLATBUFFERS_TD(ENUM, IDLTYPE, CTYPE, JTYPE, GTYPE, NTYPE, PTYPE, \
+                         RTYPE) \
+      BASE_TYPE_ ## ENUM,
+    FLATBUFFERS_GEN_TYPES(FLATBUFFERS_TD)
+  #undef FLATBUFFERS_TD
+};
+
+#define FLATBUFFERS_TD(ENUM, IDLTYPE, CTYPE, JTYPE, GTYPE, NTYPE, PTYPE, \
+                       RTYPE) \
+    static_assert(sizeof(CTYPE) <= sizeof(largest_scalar_t), \
+                  "define largest_scalar_t as " #CTYPE);
+  FLATBUFFERS_GEN_TYPES(FLATBUFFERS_TD)
+#undef FLATBUFFERS_TD
+
+inline bool IsScalar (BaseType t) { return t >= BASE_TYPE_UTYPE &&
+                                           t <= BASE_TYPE_DOUBLE; }
+inline bool IsInteger(BaseType t) { return t >= BASE_TYPE_UTYPE &&
+                                           t <= BASE_TYPE_ULONG; }
+inline bool IsFloat  (BaseType t) { return t == BASE_TYPE_FLOAT ||
+                                           t == BASE_TYPE_DOUBLE; }
+inline bool IsLong   (BaseType t) { return t == BASE_TYPE_LONG ||
+                                           t == BASE_TYPE_ULONG; }
+inline bool IsBool   (BaseType t) { return t == BASE_TYPE_BOOL; }
+inline bool IsOneByte(BaseType t) { return t >= BASE_TYPE_UTYPE &&
+                                           t <= BASE_TYPE_UCHAR; }
+// clang-format on
+
+extern const char *const kTypeNames[];
+extern const char kTypeSizes[];
+
+inline size_t SizeOf(BaseType t) { return kTypeSizes[t]; }
+
+struct StructDef;
+struct EnumDef;
+class Parser;
+
+// Represents any type in the IDL, which is a combination of the BaseType
+// and additional information for vectors/structs_.
+struct Type {
+  explicit Type(BaseType _base_type = BASE_TYPE_NONE, StructDef *_sd = nullptr,
+                EnumDef *_ed = nullptr)
+      : base_type(_base_type),
+        element(BASE_TYPE_NONE),
+        struct_def(_sd),
+        enum_def(_ed) {}
+
+  bool operator==(const Type &o) {
+    return base_type == o.base_type && element == o.element &&
+           struct_def == o.struct_def && enum_def == o.enum_def;
+  }
+
+  Type VectorType() const { return Type(element, struct_def, enum_def); }
+
+  Offset<reflection::Type> Serialize(FlatBufferBuilder *builder) const;
+
+  bool Deserialize(const Parser &parser, const reflection::Type *type);
+
+  BaseType base_type;
+  BaseType element;       // only set if t == BASE_TYPE_VECTOR
+  StructDef *struct_def;  // only set if t or element == BASE_TYPE_STRUCT
+  EnumDef *enum_def;      // set if t == BASE_TYPE_UNION / BASE_TYPE_UTYPE,
+                          // or for an integral type derived from an enum.
+};
+
+// Represents a parsed scalar value, it's type, and field offset.
+struct Value {
+  Value()
+      : constant("0"),
+        offset(static_cast<voffset_t>(~(static_cast<voffset_t>(0U)))) {}
+  Type type;
+  std::string constant;
+  voffset_t offset;
+};
+
+// Helper class that retains the original order of a set of identifiers and
+// also provides quick lookup.
+template<typename T> class SymbolTable {
+ public:
+  ~SymbolTable() {
+    for (auto it = vec.begin(); it != vec.end(); ++it) { delete *it; }
+  }
+
+  bool Add(const std::string &name, T *e) {
+    vector_emplace_back(&vec, e);
+    auto it = dict.find(name);
+    if (it != dict.end()) return true;
+    dict[name] = e;
+    return false;
+  }
+
+  void Move(const std::string &oldname, const std::string &newname) {
+    auto it = dict.find(oldname);
+    if (it != dict.end()) {
+      auto obj = it->second;
+      dict.erase(it);
+      dict[newname] = obj;
+    } else {
+      FLATBUFFERS_ASSERT(false);
+    }
+  }
+
+  T *Lookup(const std::string &name) const {
+    auto it = dict.find(name);
+    return it == dict.end() ? nullptr : it->second;
+  }
+
+ public:
+  std::map<std::string, T *> dict;  // quick lookup
+  std::vector<T *> vec;             // Used to iterate in order of insertion
+};
+
+// A name space, as set in the schema.
+struct Namespace {
+  Namespace() : from_table(0) {}
+
+  // Given a (potentally unqualified) name, return the "fully qualified" name
+  // which has a full namespaced descriptor.
+  // With max_components you can request less than the number of components
+  // the current namespace has.
+  std::string GetFullyQualifiedName(const std::string &name,
+                                    size_t max_components = 1000) const;
+
+  std::vector<std::string> components;
+  size_t from_table;  // Part of the namespace corresponds to a message/table.
+};
+
+// Base class for all definition types (fields, structs_, enums_).
+struct Definition {
+  Definition()
+      : generated(false),
+        defined_namespace(nullptr),
+        serialized_location(0),
+        index(-1),
+        refcount(1) {}
+
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<reflection::KeyValue>>>
+  SerializeAttributes(FlatBufferBuilder *builder, const Parser &parser) const;
+
+  bool DeserializeAttributes(Parser &parser,
+                             const Vector<Offset<reflection::KeyValue>> *attrs);
+
+  std::string name;
+  std::string file;
+  std::vector<std::string> doc_comment;
+  SymbolTable<Value> attributes;
+  bool generated;  // did we already output code for this definition?
+  Namespace *defined_namespace;  // Where it was defined.
+
+  // For use with Serialize()
+  uoffset_t serialized_location;
+  int index;  // Inside the vector it is stored.
+  int refcount;
+};
+
+struct FieldDef : public Definition {
+  FieldDef()
+      : deprecated(false),
+        required(false),
+        key(false),
+        shared(false),
+        native_inline(false),
+        flexbuffer(false),
+        nested_flatbuffer(NULL),
+        padding(0) {}
+
+  Offset<reflection::Field> Serialize(FlatBufferBuilder *builder, uint16_t id,
+                                      const Parser &parser) const;
+
+  bool Deserialize(Parser &parser, const reflection::Field *field);
+
+  Value value;
+  bool deprecated;  // Field is allowed to be present in old data, but can't be.
+                    // written in new data nor accessed in new code.
+  bool required;    // Field must always be present.
+  bool key;         // Field functions as a key for creating sorted vectors.
+  bool shared;  // Field will be using string pooling (i.e. CreateSharedString)
+                // as default serialization behavior if field is a string.
+  bool native_inline;  // Field will be defined inline (instead of as a pointer)
+                       // for native tables if field is a struct.
+  bool flexbuffer;     // This field contains FlexBuffer data.
+  StructDef *nested_flatbuffer;  // This field contains nested FlatBuffer data.
+  size_t padding;                // Bytes to always pad after this field.
+};
+
+struct StructDef : public Definition {
+  StructDef()
+      : fixed(false),
+        predecl(true),
+        sortbysize(true),
+        has_key(false),
+        minalign(1),
+        bytesize(0) {}
+
+  void PadLastField(size_t min_align) {
+    auto padding = PaddingBytes(bytesize, min_align);
+    bytesize += padding;
+    if (fields.vec.size()) fields.vec.back()->padding = padding;
+  }
+
+  Offset<reflection::Object> Serialize(FlatBufferBuilder *builder,
+                                       const Parser &parser) const;
+
+  bool Deserialize(Parser &parser, const reflection::Object *object);
+
+  SymbolTable<FieldDef> fields;
+
+  bool fixed;       // If it's struct, not a table.
+  bool predecl;     // If it's used before it was defined.
+  bool sortbysize;  // Whether fields come in the declaration or size order.
+  bool has_key;     // It has a key field.
+  size_t minalign;  // What the whole object needs to be aligned to.
+  size_t bytesize;  // Size if fixed.
+
+  flatbuffers::unique_ptr<std::string> original_location;
+};
+
+inline bool IsStruct(const Type &type) {
+  return type.base_type == BASE_TYPE_STRUCT && type.struct_def->fixed;
+}
+
+inline size_t InlineSize(const Type &type) {
+  return IsStruct(type) ? type.struct_def->bytesize : SizeOf(type.base_type);
+}
+
+inline size_t InlineAlignment(const Type &type) {
+  return IsStruct(type) ? type.struct_def->minalign : SizeOf(type.base_type);
+}
+
+struct EnumVal {
+  EnumVal(const std::string &_name, int64_t _val) : name(_name), value(_val) {}
+  EnumVal() : value(0) {}
+
+  Offset<reflection::EnumVal> Serialize(FlatBufferBuilder *builder, const Parser &parser) const;
+
+  bool Deserialize(const Parser &parser, const reflection::EnumVal *val);
+  bool IsZero() const { return 0 == value; }
+  bool IsNonZero() const { return !IsZero(); }
+
+  std::string name;
+  std::vector<std::string> doc_comment;
+  int64_t value;
+  Type union_type;
+};
+
+struct EnumDef : public Definition {
+  EnumDef() : is_union(false), uses_multiple_type_instances(false) {}
+
+  EnumVal *ReverseLookup(int64_t enum_idx, bool skip_union_default = true) {
+    for (auto it = Vals().begin() +
+                   static_cast<int>(is_union && skip_union_default);
+         it != Vals().end(); ++it) {
+      if ((*it)->value == enum_idx) { return *it; }
+    }
+    return nullptr;
+  }
+
+  Offset<reflection::Enum> Serialize(FlatBufferBuilder *builder, const Parser &parser) const;
+
+  bool Deserialize(Parser &parser, const reflection::Enum *values);
+
+  size_t size() const { return vals.vec.size(); }
+
+  const std::vector<EnumVal *> &Vals() const {
+    return vals.vec;
+  }
+
+  SymbolTable<EnumVal> vals;
+  bool is_union;
+  // Type is a union which uses type aliases where at least one type is
+  // available under two different names.
+  bool uses_multiple_type_instances;
+  Type underlying_type;
+};
+
+inline bool EqualByName(const Type &a, const Type &b) {
+  return a.base_type == b.base_type && a.element == b.element &&
+         (a.struct_def == b.struct_def ||
+          a.struct_def->name == b.struct_def->name) &&
+         (a.enum_def == b.enum_def || a.enum_def->name == b.enum_def->name);
+}
+
+struct RPCCall : public Definition {
+  Offset<reflection::RPCCall> Serialize(FlatBufferBuilder *builder, const Parser &parser) const;
+
+  bool Deserialize(Parser &parser, const reflection::RPCCall *call);
+
+  StructDef *request, *response;
+};
+
+struct ServiceDef : public Definition {
+  Offset<reflection::Service> Serialize(FlatBufferBuilder *builder, const Parser &parser) const;
+  bool Deserialize(Parser &parser, const reflection::Service *service);
+
+  SymbolTable<RPCCall> calls;
+};
+
+// Container of options that may apply to any of the source/text generators.
+struct IDLOptions {
+  bool strict_json;
+  bool skip_js_exports;
+  bool use_goog_js_export_format;
+  bool use_ES6_js_export_format;
+  bool output_default_scalars_in_json;
+  int indent_step;
+  bool output_enum_identifiers;
+  bool prefixed_enums;
+  bool scoped_enums;
+  bool include_dependence_headers;
+  bool mutable_buffer;
+  bool one_file;
+  bool proto_mode;
+  bool proto_oneof_union;
+  bool generate_all;
+  bool skip_unexpected_fields_in_json;
+  bool generate_name_strings;
+  bool generate_object_based_api;
+  bool gen_compare;
+  std::string cpp_object_api_pointer_type;
+  std::string cpp_object_api_string_type;
+  bool cpp_object_api_string_flexible_constructor;
+  bool gen_nullable;
+  bool gen_generated;
+  std::string object_prefix;
+  std::string object_suffix;
+  bool union_value_namespacing;
+  bool allow_non_utf8;
+  bool natural_utf8;
+  std::string include_prefix;
+  bool keep_include_path;
+  bool binary_schema_comments;
+  bool binary_schema_builtins;
+  bool skip_flatbuffers_import;
+  std::string go_import;
+  std::string go_namespace;
+  bool reexport_ts_modules;
+  bool js_ts_short_names;
+  bool protobuf_ascii_alike;
+  bool size_prefixed;
+  std::string root_type;
+  bool force_defaults;
+
+  // Possible options for the more general generator below.
+  enum Language {
+    kJava = 1 << 0,
+    kCSharp = 1 << 1,
+    kGo = 1 << 2,
+    kCpp = 1 << 3,
+    kJs = 1 << 4,
+    kPython = 1 << 5,
+    kPhp = 1 << 6,
+    kJson = 1 << 7,
+    kBinary = 1 << 8,
+    kTs = 1 << 9,
+    kJsonSchema = 1 << 10,
+    kDart = 1 << 11,
+    kLua = 1 << 12,
+    kLobster = 1 << 13,
+    kRust = 1 << 14,
+    kMAX
+  };
+
+  Language lang;
+
+  enum MiniReflect { kNone, kTypes, kTypesAndNames };
+
+  MiniReflect mini_reflect;
+
+  // The corresponding language bit will be set if a language is included
+  // for code generation.
+  unsigned long lang_to_generate;
+
+  // If set (default behavior), empty string and vector fields will be set to
+  // nullptr to make the flatbuffer more compact.
+  bool set_empty_to_null;
+
+  IDLOptions()
+      : strict_json(false),
+        skip_js_exports(false),
+        use_goog_js_export_format(false),
+        use_ES6_js_export_format(false),
+        output_default_scalars_in_json(false),
+        indent_step(2),
+        output_enum_identifiers(true),
+        prefixed_enums(true),
+        scoped_enums(false),
+        include_dependence_headers(true),
+        mutable_buffer(false),
+        one_file(false),
+        proto_mode(false),
+        proto_oneof_union(false),
+        generate_all(false),
+        skip_unexpected_fields_in_json(false),
+        generate_name_strings(false),
+        generate_object_based_api(false),
+        gen_compare(false),
+        cpp_object_api_pointer_type("std::unique_ptr"),
+        cpp_object_api_string_flexible_constructor(false),
+        gen_nullable(false),
+        gen_generated(false),
+        object_suffix("T"),
+        union_value_namespacing(true),
+        allow_non_utf8(false),
+        natural_utf8(false),
+        keep_include_path(false),
+        binary_schema_comments(false),
+        binary_schema_builtins(false),
+        skip_flatbuffers_import(false),
+        reexport_ts_modules(true),
+        js_ts_short_names(false),
+        protobuf_ascii_alike(false),
+        size_prefixed(false),
+        force_defaults(false),
+        lang(IDLOptions::kJava),
+        mini_reflect(IDLOptions::kNone),
+        lang_to_generate(0),
+        set_empty_to_null(true) {}
+};
+
+// This encapsulates where the parser is in the current source file.
+struct ParserState {
+  ParserState()
+      : cursor_(nullptr),
+        line_start_(nullptr),
+        line_(0),
+        token_(-1),
+        attr_is_trivial_ascii_string_(true) {}
+
+ protected:
+  void ResetState(const char *source) {
+    cursor_ = source;
+    line_ = 0;
+    MarkNewLine();
+  }
+
+  void MarkNewLine() {
+    line_start_ = cursor_;
+    line_ += 1;
+  }
+
+  int64_t CursorPosition() const {
+    FLATBUFFERS_ASSERT(cursor_ && line_start_ && cursor_ >= line_start_);
+    return static_cast<int64_t>(cursor_ - line_start_);
+  }
+
+  const char *cursor_;
+  const char *line_start_;
+  int line_;  // the current line being parsed
+  int token_;
+
+  // Flag: text in attribute_ is true ASCII string without escape
+  // sequences. Only printable ASCII (without [\t\r\n]).
+  // Used for number-in-string (and base64 string in future).
+  bool attr_is_trivial_ascii_string_;
+  std::string attribute_;
+  std::vector<std::string> doc_comment_;
+};
+
+// A way to make error propagation less error prone by requiring values to be
+// checked.
+// Once you create a value of this type you must either:
+// - Call Check() on it.
+// - Copy or assign it to another value.
+// Failure to do so leads to an assert.
+// This guarantees that this as return value cannot be ignored.
+class CheckedError {
+ public:
+  explicit CheckedError(bool error)
+      : is_error_(error), has_been_checked_(false) {}
+
+  CheckedError &operator=(const CheckedError &other) {
+    is_error_ = other.is_error_;
+    has_been_checked_ = false;
+    other.has_been_checked_ = true;
+    return *this;
+  }
+
+  CheckedError(const CheckedError &other) {
+    *this = other;  // Use assignment operator.
+  }
+
+  ~CheckedError() { FLATBUFFERS_ASSERT(has_been_checked_); }
+
+  bool Check() {
+    has_been_checked_ = true;
+    return is_error_;
+  }
+
+ private:
+  bool is_error_;
+  mutable bool has_been_checked_;
+};
+
+// Additionally, in GCC we can get these errors statically, for additional
+// assurance:
+// clang-format off
+#ifdef __GNUC__
+#define FLATBUFFERS_CHECKED_ERROR CheckedError \
+          __attribute__((warn_unused_result))
+#else
+#define FLATBUFFERS_CHECKED_ERROR CheckedError
+#endif
+// clang-format on
+
+class Parser : public ParserState {
+ public:
+  explicit Parser(const IDLOptions &options = IDLOptions())
+      : current_namespace_(nullptr),
+        empty_namespace_(nullptr),
+        root_struct_def_(nullptr),
+        opts(options),
+        uses_flexbuffers_(false),
+        source_(nullptr),
+        anonymous_counter(0),
+        recurse_protection_counter(0) {
+    if (opts.force_defaults) {
+      builder_.ForceDefaults(true);
+    }
+    // Start out with the empty namespace being current.
+    empty_namespace_ = new Namespace();
+    namespaces_.push_back(empty_namespace_);
+    current_namespace_ = empty_namespace_;
+    known_attributes_["deprecated"] = true;
+    known_attributes_["required"] = true;
+    known_attributes_["key"] = true;
+    known_attributes_["shared"] = true;
+    known_attributes_["hash"] = true;
+    known_attributes_["id"] = true;
+    known_attributes_["force_align"] = true;
+    known_attributes_["bit_flags"] = true;
+    known_attributes_["original_order"] = true;
+    known_attributes_["nested_flatbuffer"] = true;
+    known_attributes_["csharp_partial"] = true;
+    known_attributes_["streaming"] = true;
+    known_attributes_["idempotent"] = true;
+    known_attributes_["cpp_type"] = true;
+    known_attributes_["cpp_ptr_type"] = true;
+    known_attributes_["cpp_ptr_type_get"] = true;
+    known_attributes_["cpp_str_type"] = true;
+    known_attributes_["cpp_str_flex_ctor"] = true;
+    known_attributes_["native_inline"] = true;
+    known_attributes_["native_custom_alloc"] = true;
+    known_attributes_["native_type"] = true;
+    known_attributes_["native_default"] = true;
+    known_attributes_["flexbuffer"] = true;
+    known_attributes_["private"] = true;
+  }
+
+  ~Parser() {
+    for (auto it = namespaces_.begin(); it != namespaces_.end(); ++it) {
+      delete *it;
+    }
+  }
+
+  // Parse the string containing either schema or JSON data, which will
+  // populate the SymbolTable's or the FlatBufferBuilder above.
+  // include_paths is used to resolve any include statements, and typically
+  // should at least include the project path (where you loaded source_ from).
+  // include_paths must be nullptr terminated if specified.
+  // If include_paths is nullptr, it will attempt to load from the current
+  // directory.
+  // If the source was loaded from a file and isn't an include file,
+  // supply its name in source_filename.
+  // All paths specified in this call must be in posix format, if you accept
+  // paths from user input, please call PosixPath on them first.
+  bool Parse(const char *_source, const char **include_paths = nullptr,
+             const char *source_filename = nullptr);
+
+  // Set the root type. May override the one set in the schema.
+  bool SetRootType(const char *name);
+
+  // Mark all definitions as already having code generated.
+  void MarkGenerated();
+
+  // Get the files recursively included by the given file. The returned
+  // container will have at least the given file.
+  std::set<std::string> GetIncludedFilesRecursive(
+      const std::string &file_name) const;
+
+  // Fills builder_ with a binary version of the schema parsed.
+  // See reflection/reflection.fbs
+  void Serialize();
+
+  // Deserialize a schema buffer
+  bool Deserialize(const uint8_t *buf, const size_t size);
+
+  // Fills internal structure as if the schema passed had been loaded by parsing
+  // with Parse except that included filenames will not be populated.
+  bool Deserialize(const reflection::Schema* schema);
+
+  Type* DeserializeType(const reflection::Type* type);
+
+  // Checks that the schema represented by this parser is a safe evolution
+  // of the schema provided. Returns non-empty error on any problems.
+  std::string ConformTo(const Parser &base);
+
+  // Similar to Parse(), but now only accepts JSON to be parsed into a
+  // FlexBuffer.
+  bool ParseFlexBuffer(const char *source, const char *source_filename,
+                       flexbuffers::Builder *builder);
+
+  StructDef *LookupStruct(const std::string &id) const;
+
+  std::string UnqualifiedName(std::string fullQualifiedName);
+
+  FLATBUFFERS_CHECKED_ERROR Error(const std::string &msg);
+
+ private:
+  void Message(const std::string &msg);
+  void Warning(const std::string &msg);
+  FLATBUFFERS_CHECKED_ERROR ParseHexNum(int nibbles, uint64_t *val);
+  FLATBUFFERS_CHECKED_ERROR Next();
+  FLATBUFFERS_CHECKED_ERROR SkipByteOrderMark();
+  bool Is(int t) const;
+  bool IsIdent(const char *id) const;
+  FLATBUFFERS_CHECKED_ERROR Expect(int t);
+  std::string TokenToStringId(int t) const;
+  EnumDef *LookupEnum(const std::string &id);
+  FLATBUFFERS_CHECKED_ERROR ParseNamespacing(std::string *id,
+                                             std::string *last);
+  FLATBUFFERS_CHECKED_ERROR ParseTypeIdent(Type &type);
+  FLATBUFFERS_CHECKED_ERROR ParseType(Type &type);
+  FLATBUFFERS_CHECKED_ERROR AddField(StructDef &struct_def,
+                                     const std::string &name, const Type &type,
+                                     FieldDef **dest);
+  FLATBUFFERS_CHECKED_ERROR ParseField(StructDef &struct_def);
+  FLATBUFFERS_CHECKED_ERROR ParseString(Value &val);
+  FLATBUFFERS_CHECKED_ERROR ParseComma();
+  FLATBUFFERS_CHECKED_ERROR ParseAnyValue(Value &val, FieldDef *field,
+                                          size_t parent_fieldn,
+                                          const StructDef *parent_struct_def,
+                                          uoffset_t count,
+                                          bool inside_vector = false);
+  template<typename F>
+  FLATBUFFERS_CHECKED_ERROR ParseTableDelimiters(size_t &fieldn,
+                                                 const StructDef *struct_def,
+                                                 F body);
+  FLATBUFFERS_CHECKED_ERROR ParseTable(const StructDef &struct_def,
+                                       std::string *value, uoffset_t *ovalue);
+  void SerializeStruct(const StructDef &struct_def, const Value &val);
+  template<typename F>
+  FLATBUFFERS_CHECKED_ERROR ParseVectorDelimiters(uoffset_t &count, F body);
+  FLATBUFFERS_CHECKED_ERROR ParseVector(const Type &type, uoffset_t *ovalue,
+                                        FieldDef *field, size_t fieldn);
+  FLATBUFFERS_CHECKED_ERROR ParseNestedFlatbuffer(Value &val, FieldDef *field,
+                                                  size_t fieldn,
+                                                  const StructDef *parent_struct_def);
+  FLATBUFFERS_CHECKED_ERROR ParseMetaData(SymbolTable<Value> *attributes);
+  FLATBUFFERS_CHECKED_ERROR TryTypedValue(const std::string *name, int dtoken, bool check, Value &e,
+                                          BaseType req, bool *destmatch);
+  FLATBUFFERS_CHECKED_ERROR ParseHash(Value &e, FieldDef* field);
+  FLATBUFFERS_CHECKED_ERROR TokenError();
+  FLATBUFFERS_CHECKED_ERROR ParseSingleValue(const std::string *name, Value &e, bool check_now);
+  FLATBUFFERS_CHECKED_ERROR ParseEnumFromString(const Type &type, std::string *result);
+  StructDef *LookupCreateStruct(const std::string &name,
+                                bool create_if_new = true,
+                                bool definition = false);
+  FLATBUFFERS_CHECKED_ERROR ParseEnum(bool is_union, EnumDef **dest);
+  FLATBUFFERS_CHECKED_ERROR ParseNamespace();
+  FLATBUFFERS_CHECKED_ERROR StartStruct(const std::string &name,
+                                        StructDef **dest);
+  FLATBUFFERS_CHECKED_ERROR StartEnum(const std::string &name,
+                                      bool is_union,
+                                      EnumDef **dest);
+  FLATBUFFERS_CHECKED_ERROR ParseDecl();
+  FLATBUFFERS_CHECKED_ERROR ParseService();
+  FLATBUFFERS_CHECKED_ERROR ParseProtoFields(StructDef *struct_def,
+                                             bool isextend, bool inside_oneof);
+  FLATBUFFERS_CHECKED_ERROR ParseProtoOption();
+  FLATBUFFERS_CHECKED_ERROR ParseProtoKey();
+  FLATBUFFERS_CHECKED_ERROR ParseProtoDecl();
+  FLATBUFFERS_CHECKED_ERROR ParseProtoCurliesOrIdent();
+  FLATBUFFERS_CHECKED_ERROR ParseTypeFromProtoType(Type *type);
+  FLATBUFFERS_CHECKED_ERROR SkipAnyJsonValue();
+  FLATBUFFERS_CHECKED_ERROR ParseFlexBufferValue(flexbuffers::Builder *builder);
+  FLATBUFFERS_CHECKED_ERROR StartParseFile(const char *source,
+                                           const char *source_filename);
+  FLATBUFFERS_CHECKED_ERROR ParseRoot(const char *_source,
+                                    const char **include_paths,
+                                    const char *source_filename);
+  FLATBUFFERS_CHECKED_ERROR DoParse(const char *_source,
+                                           const char **include_paths,
+                                           const char *source_filename,
+                                           const char *include_filename);
+  FLATBUFFERS_CHECKED_ERROR CheckClash(std::vector<FieldDef*> &fields,
+                                       StructDef *struct_def,
+                                       const char *suffix,
+                                       BaseType baseType);
+
+  bool SupportsAdvancedUnionFeatures() const;
+  Namespace *UniqueNamespace(Namespace *ns);
+
+  FLATBUFFERS_CHECKED_ERROR RecurseError();
+  template<typename F> CheckedError Recurse(F f);
+
+ public:
+  SymbolTable<Type> types_;
+  SymbolTable<StructDef> structs_;
+  SymbolTable<EnumDef> enums_;
+  SymbolTable<ServiceDef> services_;
+  std::vector<Namespace *> namespaces_;
+  Namespace *current_namespace_;
+  Namespace *empty_namespace_;
+  std::string error_;         // User readable error_ if Parse() == false
+
+  FlatBufferBuilder builder_;  // any data contained in the file
+  StructDef *root_struct_def_;
+  std::string file_identifier_;
+  std::string file_extension_;
+
+  std::map<std::string, std::string> included_files_;
+  std::map<std::string, std::set<std::string>> files_included_per_file_;
+  std::vector<std::string> native_included_files_;
+
+  std::map<std::string, bool> known_attributes_;
+
+  IDLOptions opts;
+  bool uses_flexbuffers_;
+
+ private:
+  const char *source_;
+
+  std::string file_being_parsed_;
+
+  std::vector<std::pair<Value, FieldDef *>> field_stack_;
+
+  int anonymous_counter;
+  int recurse_protection_counter;
+};
+
+// Utility functions for multiple generators:
+
+extern std::string MakeCamel(const std::string &in, bool first = true);
+
+// Generate text (JSON) from a given FlatBuffer, and a given Parser
+// object that has been populated with the corresponding schema.
+// If ident_step is 0, no indentation will be generated. Additionally,
+// if it is less than 0, no linefeeds will be generated either.
+// See idl_gen_text.cpp.
+// strict_json adds "quotes" around field names if true.
+// If the flatbuffer cannot be encoded in JSON (e.g., it contains non-UTF-8
+// byte arrays in String values), returns false.
+extern bool GenerateTextFromTable(const Parser &parser,
+                                  const void *table,
+                                  const std::string &tablename,
+                                  std::string *text);
+extern bool GenerateText(const Parser &parser,
+                         const void *flatbuffer,
+                         std::string *text);
+extern bool GenerateTextFile(const Parser &parser,
+                             const std::string &path,
+                             const std::string &file_name);
+
+// Generate binary files from a given FlatBuffer, and a given Parser
+// object that has been populated with the corresponding schema.
+// See idl_gen_general.cpp.
+extern bool GenerateBinary(const Parser &parser,
+                           const std::string &path,
+                           const std::string &file_name);
+
+// Generate a C++ header from the definitions in the Parser object.
+// See idl_gen_cpp.
+extern bool GenerateCPP(const Parser &parser,
+                        const std::string &path,
+                        const std::string &file_name);
+
+extern bool GenerateDart(const Parser &parser,
+                         const std::string &path,
+                         const std::string &file_name);
+
+// Generate JavaScript or TypeScript code from the definitions in the Parser object.
+// See idl_gen_js.
+extern bool GenerateJSTS(const Parser &parser,
+                       const std::string &path,
+                       const std::string &file_name);
+
+// Generate Go files from the definitions in the Parser object.
+// See idl_gen_go.cpp.
+extern bool GenerateGo(const Parser &parser,
+                       const std::string &path,
+                       const std::string &file_name);
+
+// Generate Php code from the definitions in the Parser object.
+// See idl_gen_php.
+extern bool GeneratePhp(const Parser &parser,
+                        const std::string &path,
+                        const std::string &file_name);
+
+// Generate Python files from the definitions in the Parser object.
+// See idl_gen_python.cpp.
+extern bool GeneratePython(const Parser &parser,
+                           const std::string &path,
+                           const std::string &file_name);
+
+// Generate Lobster files from the definitions in the Parser object.
+// See idl_gen_lobster.cpp.
+extern bool GenerateLobster(const Parser &parser,
+                            const std::string &path,
+                            const std::string &file_name);
+
+// Generate Lua files from the definitions in the Parser object.
+// See idl_gen_lua.cpp.
+extern bool GenerateLua(const Parser &parser,
+                      const std::string &path,
+                      const std::string &file_name);
+
+// Generate Rust files from the definitions in the Parser object.
+// See idl_gen_rust.cpp.
+extern bool GenerateRust(const Parser &parser,
+                         const std::string &path,
+                         const std::string &file_name);
+
+// Generate Json schema file
+// See idl_gen_json_schema.cpp.
+extern bool GenerateJsonSchema(const Parser &parser,
+                           const std::string &path,
+                           const std::string &file_name);
+
+// Generate Java/C#/.. files from the definitions in the Parser object.
+// See idl_gen_general.cpp.
+extern bool GenerateGeneral(const Parser &parser,
+                            const std::string &path,
+                            const std::string &file_name);
+
+// Generate a schema file from the internal representation, useful after
+// parsing a .proto schema.
+extern std::string GenerateFBS(const Parser &parser,
+                               const std::string &file_name);
+extern bool GenerateFBS(const Parser &parser,
+                        const std::string &path,
+                        const std::string &file_name);
+
+// Generate a make rule for the generated JavaScript or TypeScript code.
+// See idl_gen_js.cpp.
+extern std::string JSTSMakeRule(const Parser &parser,
+                              const std::string &path,
+                              const std::string &file_name);
+
+// Generate a make rule for the generated C++ header.
+// See idl_gen_cpp.cpp.
+extern std::string CPPMakeRule(const Parser &parser,
+                               const std::string &path,
+                               const std::string &file_name);
+
+// Generate a make rule for the generated Dart code
+// see idl_gen_dart.cpp
+extern std::string DartMakeRule(const Parser &parser,
+                                const std::string &path,
+                                const std::string &file_name);
+
+// Generate a make rule for the generated Rust code.
+// See idl_gen_rust.cpp.
+extern std::string RustMakeRule(const Parser &parser,
+                                const std::string &path,
+                                const std::string &file_name);
+
+// Generate a make rule for the generated Java/C#/... files.
+// See idl_gen_general.cpp.
+extern std::string GeneralMakeRule(const Parser &parser,
+                                   const std::string &path,
+                                   const std::string &file_name);
+
+// Generate a make rule for the generated text (JSON) files.
+// See idl_gen_text.cpp.
+extern std::string TextMakeRule(const Parser &parser,
+                                const std::string &path,
+                                const std::string &file_names);
+
+// Generate a make rule for the generated binary files.
+// See idl_gen_general.cpp.
+extern std::string BinaryMakeRule(const Parser &parser,
+                                  const std::string &path,
+                                  const std::string &file_name);
+
+// Generate GRPC Cpp interfaces.
+// See idl_gen_grpc.cpp.
+bool GenerateCppGRPC(const Parser &parser,
+                     const std::string &path,
+                     const std::string &file_name);
+
+// Generate GRPC Go interfaces.
+// See idl_gen_grpc.cpp.
+bool GenerateGoGRPC(const Parser &parser,
+                    const std::string &path,
+                    const std::string &file_name);
+
+// Generate GRPC Java classes.
+// See idl_gen_grpc.cpp
+bool GenerateJavaGRPC(const Parser &parser,
+                      const std::string &path,
+                      const std::string &file_name);
+
+}  // namespace flatbuffers
+
+#endif  // FLATBUFFERS_IDL_H_
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/minireflect.h b/host/lib/deps/flatbuffers/include/flatbuffers/minireflect.h
new file mode 100644
index 000000000..9d648ec08
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/minireflect.h
@@ -0,0 +1,407 @@
+/*
+ * Copyright 2017 Google Inc. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef FLATBUFFERS_MINIREFLECT_H_
+#define FLATBUFFERS_MINIREFLECT_H_
+
+#include "flatbuffers/flatbuffers.h"
+#include "flatbuffers/util.h"
+
+namespace flatbuffers {
+
+// Utilities that can be used with the "mini reflection" tables present
+// in generated code with --reflect-types (only types) or --reflect-names
+// (also names).
+// This allows basic reflection functionality such as pretty-printing
+// that does not require the use of the schema parser or loading of binary
+// schema files at runtime (reflection.h).
+
+// For any of the functions below that take `const TypeTable *`, you pass
+// `FooTypeTable()` if the type of the root is `Foo`.
+
+// First, a generic iterator that can be used by multiple algorithms.
+
+struct IterationVisitor {
+  // These mark the scope of a table or struct.
+  virtual void StartSequence() {}
+  virtual void EndSequence() {}
+  // Called for each field regardless of wether it is present or not.
+  // If not present, val == nullptr. set_idx is the index of all set fields.
+  virtual void Field(size_t /*field_idx*/, size_t /*set_idx*/,
+                     ElementaryType /*type*/, bool /*is_vector*/,
+                     const TypeTable * /*type_table*/, const char * /*name*/,
+                     const uint8_t * /*val*/) {}
+  // Called for a value that is actually present, after a field, or as part
+  // of a vector.
+  virtual void UType(uint8_t, const char *) {}
+  virtual void Bool(bool) {}
+  virtual void Char(int8_t, const char *) {}
+  virtual void UChar(uint8_t, const char *) {}
+  virtual void Short(int16_t, const char *) {}
+  virtual void UShort(uint16_t, const char *) {}
+  virtual void Int(int32_t, const char *) {}
+  virtual void UInt(uint32_t, const char *) {}
+  virtual void Long(int64_t) {}
+  virtual void ULong(uint64_t) {}
+  virtual void Float(float) {}
+  virtual void Double(double) {}
+  virtual void String(const String *) {}
+  virtual void Unknown(const uint8_t *) {}  // From a future version.
+  // These mark the scope of a vector.
+  virtual void StartVector() {}
+  virtual void EndVector() {}
+  virtual void Element(size_t /*i*/, ElementaryType /*type*/,
+                       const TypeTable * /*type_table*/,
+                       const uint8_t * /*val*/) {}
+  virtual ~IterationVisitor() {}
+};
+
+inline size_t InlineSize(ElementaryType type, const TypeTable *type_table) {
+  switch (type) {
+    case ET_UTYPE:
+    case ET_BOOL:
+    case ET_CHAR:
+    case ET_UCHAR: return 1;
+    case ET_SHORT:
+    case ET_USHORT: return 2;
+    case ET_INT:
+    case ET_UINT:
+    case ET_FLOAT:
+    case ET_STRING: return 4;
+    case ET_LONG:
+    case ET_ULONG:
+    case ET_DOUBLE: return 8;
+    case ET_SEQUENCE:
+      switch (type_table->st) {
+        case ST_TABLE:
+        case ST_UNION: return 4;
+        case ST_STRUCT: return static_cast<size_t>(type_table->values[type_table->num_elems]);
+        default: FLATBUFFERS_ASSERT(false); return 1;
+      }
+    default: FLATBUFFERS_ASSERT(false); return 1;
+  }
+}
+
+inline int64_t LookupEnum(int64_t enum_val, const int64_t *values,
+                          size_t num_values) {
+  if (!values) return enum_val;
+  for (size_t i = 0; i < num_values; i++) {
+    if (enum_val == values[i]) return static_cast<int64_t>(i);
+  }
+  return -1;  // Unknown enum value.
+}
+
+template<typename T> const char *EnumName(T tval, const TypeTable *type_table) {
+  if (!type_table || !type_table->names) return nullptr;
+  auto i = LookupEnum(static_cast<int64_t>(tval), type_table->values,
+                      type_table->num_elems);
+  if (i >= 0 && i < static_cast<int64_t>(type_table->num_elems)) {
+    return type_table->names[i];
+  }
+  return nullptr;
+}
+
+void IterateObject(const uint8_t *obj, const TypeTable *type_table,
+                   IterationVisitor *visitor);
+
+inline void IterateValue(ElementaryType type, const uint8_t *val,
+                         const TypeTable *type_table, const uint8_t *prev_val,
+                         soffset_t vector_index, IterationVisitor *visitor) {
+  switch (type) {
+    case ET_UTYPE: {
+      auto tval = ReadScalar<uint8_t>(val);
+      visitor->UType(tval, EnumName(tval, type_table));
+      break;
+    }
+    case ET_BOOL: {
+      visitor->Bool(ReadScalar<uint8_t>(val) != 0);
+      break;
+    }
+    case ET_CHAR: {
+      auto tval = ReadScalar<int8_t>(val);
+      visitor->Char(tval, EnumName(tval, type_table));
+      break;
+    }
+    case ET_UCHAR: {
+      auto tval = ReadScalar<uint8_t>(val);
+      visitor->UChar(tval, EnumName(tval, type_table));
+      break;
+    }
+    case ET_SHORT: {
+      auto tval = ReadScalar<int16_t>(val);
+      visitor->Short(tval, EnumName(tval, type_table));
+      break;
+    }
+    case ET_USHORT: {
+      auto tval = ReadScalar<uint16_t>(val);
+      visitor->UShort(tval, EnumName(tval, type_table));
+      break;
+    }
+    case ET_INT: {
+      auto tval = ReadScalar<int32_t>(val);
+      visitor->Int(tval, EnumName(tval, type_table));
+      break;
+    }
+    case ET_UINT: {
+      auto tval = ReadScalar<uint32_t>(val);
+      visitor->UInt(tval, EnumName(tval, type_table));
+      break;
+    }
+    case ET_LONG: {
+      visitor->Long(ReadScalar<int64_t>(val));
+      break;
+    }
+    case ET_ULONG: {
+      visitor->ULong(ReadScalar<uint64_t>(val));
+      break;
+    }
+    case ET_FLOAT: {
+      visitor->Float(ReadScalar<float>(val));
+      break;
+    }
+    case ET_DOUBLE: {
+      visitor->Double(ReadScalar<double>(val));
+      break;
+    }
+    case ET_STRING: {
+      val += ReadScalar<uoffset_t>(val);
+      visitor->String(reinterpret_cast<const String *>(val));
+      break;
+    }
+    case ET_SEQUENCE: {
+      switch (type_table->st) {
+        case ST_TABLE:
+          val += ReadScalar<uoffset_t>(val);
+          IterateObject(val, type_table, visitor);
+          break;
+        case ST_STRUCT: IterateObject(val, type_table, visitor); break;
+        case ST_UNION: {
+          val += ReadScalar<uoffset_t>(val);
+          FLATBUFFERS_ASSERT(prev_val);
+          auto union_type = *prev_val;  // Always a uint8_t.
+          if (vector_index >= 0) {
+            auto type_vec = reinterpret_cast<const Vector<uint8_t> *>(prev_val);
+            union_type = type_vec->Get(static_cast<uoffset_t>(vector_index));
+          }
+          auto type_code_idx =
+              LookupEnum(union_type, type_table->values, type_table->num_elems);
+          if (type_code_idx >= 0 &&
+              type_code_idx < static_cast<int32_t>(type_table->num_elems)) {
+            auto type_code = type_table->type_codes[type_code_idx];
+            switch (type_code.base_type) {
+              case ET_SEQUENCE: {
+                auto ref = type_table->type_refs[type_code.sequence_ref]();
+                IterateObject(val, ref, visitor);
+                break;
+              }
+              case ET_STRING:
+                visitor->String(reinterpret_cast<const String *>(val));
+                break;
+              default: visitor->Unknown(val);
+            }
+          } else {
+            visitor->Unknown(val);
+          }
+          break;
+        }
+        case ST_ENUM: FLATBUFFERS_ASSERT(false); break;
+      }
+      break;
+    }
+    default: {
+      visitor->Unknown(val);
+      break;
+    }
+  }
+}
+
+inline void IterateObject(const uint8_t *obj, const TypeTable *type_table,
+                          IterationVisitor *visitor) {
+  visitor->StartSequence();
+  const uint8_t *prev_val = nullptr;
+  size_t set_idx = 0;
+  for (size_t i = 0; i < type_table->num_elems; i++) {
+    auto type_code = type_table->type_codes[i];
+    auto type = static_cast<ElementaryType>(type_code.base_type);
+    auto is_vector = type_code.is_vector != 0;
+    auto ref_idx = type_code.sequence_ref;
+    const TypeTable *ref = nullptr;
+    if (ref_idx >= 0) { ref = type_table->type_refs[ref_idx](); }
+    auto name = type_table->names ? type_table->names[i] : nullptr;
+    const uint8_t *val = nullptr;
+    if (type_table->st == ST_TABLE) {
+      val = reinterpret_cast<const Table *>(obj)->GetAddressOf(
+          FieldIndexToOffset(static_cast<voffset_t>(i)));
+    } else {
+      val = obj + type_table->values[i];
+    }
+    visitor->Field(i, set_idx, type, is_vector, ref, name, val);
+    if (val) {
+      set_idx++;
+      if (is_vector) {
+        val += ReadScalar<uoffset_t>(val);
+        auto vec = reinterpret_cast<const Vector<uint8_t> *>(val);
+        visitor->StartVector();
+        auto elem_ptr = vec->Data();
+        for (size_t j = 0; j < vec->size(); j++) {
+          visitor->Element(j, type, ref, elem_ptr);
+          IterateValue(type, elem_ptr, ref, prev_val, static_cast<soffset_t>(j),
+                       visitor);
+          elem_ptr += InlineSize(type, ref);
+        }
+        visitor->EndVector();
+      } else {
+        IterateValue(type, val, ref, prev_val, -1, visitor);
+      }
+    }
+    prev_val = val;
+  }
+  visitor->EndSequence();
+}
+
+inline void IterateFlatBuffer(const uint8_t *buffer,
+                              const TypeTable *type_table,
+                              IterationVisitor *callback) {
+  IterateObject(GetRoot<uint8_t>(buffer), type_table, callback);
+}
+
+// Outputting a Flatbuffer to a string. Tries to conform as close to JSON /
+// the output generated by idl_gen_text.cpp.
+
+struct ToStringVisitor : public IterationVisitor {
+  std::string s;
+  std::string d;
+  bool q;
+  std::string in;
+  size_t indent_level;
+  bool vector_delimited;
+  ToStringVisitor(std::string delimiter, bool quotes, std::string indent,
+                  bool vdelimited = true)
+      : d(delimiter),
+        q(quotes),
+        in(indent),
+        indent_level(0),
+        vector_delimited(vdelimited) {}
+  ToStringVisitor(std::string delimiter)
+      : d(delimiter),
+        q(false),
+        in(""),
+        indent_level(0),
+        vector_delimited(true) {}
+
+  void append_indent() {
+    for (size_t i = 0; i < indent_level; i++) { s += in; }
+  }
+
+  void StartSequence() {
+    s += "{";
+    s += d;
+    indent_level++;
+  }
+  void EndSequence() {
+    s += d;
+    indent_level--;
+    append_indent();
+    s += "}";
+  }
+  void Field(size_t /*field_idx*/, size_t set_idx, ElementaryType /*type*/,
+             bool /*is_vector*/, const TypeTable * /*type_table*/,
+             const char *name, const uint8_t *val) {
+    if (!val) return;
+    if (set_idx) {
+      s += ",";
+      s += d;
+    }
+    append_indent();
+    if (name) {
+      if (q) s += "\"";
+      s += name;
+      if (q) s += "\"";
+      s += ": ";
+    }
+  }
+  template<typename T> void Named(T x, const char *name) {
+    if (name) {
+      if (q) s += "\"";
+      s += name;
+      if (q) s += "\"";
+    } else {
+      s += NumToString(x);
+    }
+  }
+  void UType(uint8_t x, const char *name) { Named(x, name); }
+  void Bool(bool x) { s += x ? "true" : "false"; }
+  void Char(int8_t x, const char *name) { Named(x, name); }
+  void UChar(uint8_t x, const char *name) { Named(x, name); }
+  void Short(int16_t x, const char *name) { Named(x, name); }
+  void UShort(uint16_t x, const char *name) { Named(x, name); }
+  void Int(int32_t x, const char *name) { Named(x, name); }
+  void UInt(uint32_t x, const char *name) { Named(x, name); }
+  void Long(int64_t x) { s += NumToString(x); }
+  void ULong(uint64_t x) { s += NumToString(x); }
+  void Float(float x) { s += NumToString(x); }
+  void Double(double x) { s += NumToString(x); }
+  void String(const struct String *str) {
+    EscapeString(str->c_str(), str->size(), &s, true, false);
+  }
+  void Unknown(const uint8_t *) { s += "(?)"; }
+  void StartVector() {
+    s += "[";
+    if (vector_delimited) {
+      s += d;
+      indent_level++;
+      append_indent();
+    } else {
+      s += " ";
+    }
+  }
+  void EndVector() {
+    if (vector_delimited) {
+      s += d;
+      indent_level--;
+      append_indent();
+    } else {
+      s += " ";
+    }
+    s += "]";
+  }
+  void Element(size_t i, ElementaryType /*type*/,
+               const TypeTable * /*type_table*/, const uint8_t * /*val*/) {
+    if (i) {
+      s += ",";
+      if (vector_delimited) {
+        s += d;
+        append_indent();
+      } else {
+        s += " ";
+      }
+    }
+  }
+};
+
+inline std::string FlatBufferToString(const uint8_t *buffer,
+                                      const TypeTable *type_table,
+                                      bool multi_line = false,
+                                      bool vector_delimited = true) {
+  ToStringVisitor tostring_visitor(multi_line ? "\n" : " ", false, "",
+                                   vector_delimited);
+  IterateFlatBuffer(buffer, type_table, &tostring_visitor);
+  return tostring_visitor.s;
+}
+
+}  // namespace flatbuffers
+
+#endif  // FLATBUFFERS_MINIREFLECT_H_
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/reflection.h b/host/lib/deps/flatbuffers/include/flatbuffers/reflection.h
new file mode 100644
index 000000000..580ae624b
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/reflection.h
@@ -0,0 +1,477 @@
+/*
+ * Copyright 2015 Google Inc. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef FLATBUFFERS_REFLECTION_H_
+#define FLATBUFFERS_REFLECTION_H_
+
+// This is somewhat of a circular dependency because flatc (and thus this
+// file) is needed to generate this header in the first place.
+// Should normally not be a problem since it can be generated by the
+// previous version of flatc whenever this code needs to change.
+// See reflection/generate_code.sh
+#include "flatbuffers/reflection_generated.h"
+
+// Helper functionality for reflection.
+
+namespace flatbuffers {
+
+// ------------------------- GETTERS -------------------------
+
+inline bool IsScalar(reflection::BaseType t) {
+  return t >= reflection::UType && t <= reflection::Double;
+}
+inline bool IsInteger(reflection::BaseType t) {
+  return t >= reflection::UType && t <= reflection::ULong;
+}
+inline bool IsFloat(reflection::BaseType t) {
+  return t == reflection::Float || t == reflection::Double;
+}
+inline bool IsLong(reflection::BaseType t) {
+  return t == reflection::Long || t == reflection::ULong;
+}
+
+// Size of a basic type, don't use with structs.
+inline size_t GetTypeSize(reflection::BaseType base_type) {
+  // This needs to correspond to the BaseType enum.
+  static size_t sizes[] = { 0, 1, 1, 1, 1, 2, 2, 4, 4, 8, 8, 4, 8, 4, 4, 4, 4 };
+  return sizes[base_type];
+}
+
+// Same as above, but now correctly returns the size of a struct if
+// the field (or vector element) is a struct.
+inline size_t GetTypeSizeInline(reflection::BaseType base_type, int type_index,
+                                const reflection::Schema &schema) {
+  if (base_type == reflection::Obj &&
+      schema.objects()->Get(type_index)->is_struct()) {
+    return schema.objects()->Get(type_index)->bytesize();
+  } else {
+    return GetTypeSize(base_type);
+  }
+}
+
+// Get the root, regardless of what type it is.
+inline Table *GetAnyRoot(uint8_t *flatbuf) {
+  return GetMutableRoot<Table>(flatbuf);
+}
+inline const Table *GetAnyRoot(const uint8_t *flatbuf) {
+  return GetRoot<Table>(flatbuf);
+}
+
+// Get a field's default, if you know it's an integer, and its exact type.
+template<typename T> T GetFieldDefaultI(const reflection::Field &field) {
+  FLATBUFFERS_ASSERT(sizeof(T) == GetTypeSize(field.type()->base_type()));
+  return static_cast<T>(field.default_integer());
+}
+
+// Get a field's default, if you know it's floating point and its exact type.
+template<typename T> T GetFieldDefaultF(const reflection::Field &field) {
+  FLATBUFFERS_ASSERT(sizeof(T) == GetTypeSize(field.type()->base_type()));
+  return static_cast<T>(field.default_real());
+}
+
+// Get a field, if you know it's an integer, and its exact type.
+template<typename T>
+T GetFieldI(const Table &table, const reflection::Field &field) {
+  FLATBUFFERS_ASSERT(sizeof(T) == GetTypeSize(field.type()->base_type()));
+  return table.GetField<T>(field.offset(),
+                           static_cast<T>(field.default_integer()));
+}
+
+// Get a field, if you know it's floating point and its exact type.
+template<typename T>
+T GetFieldF(const Table &table, const reflection::Field &field) {
+  FLATBUFFERS_ASSERT(sizeof(T) == GetTypeSize(field.type()->base_type()));
+  return table.GetField<T>(field.offset(),
+                           static_cast<T>(field.default_real()));
+}
+
+// Get a field, if you know it's a string.
+inline const String *GetFieldS(const Table &table,
+                               const reflection::Field &field) {
+  FLATBUFFERS_ASSERT(field.type()->base_type() == reflection::String);
+  return table.GetPointer<const String *>(field.offset());
+}
+
+// Get a field, if you know it's a vector.
+template<typename T>
+Vector<T> *GetFieldV(const Table &table, const reflection::Field &field) {
+  FLATBUFFERS_ASSERT(field.type()->base_type() == reflection::Vector &&
+                     sizeof(T) == GetTypeSize(field.type()->element()));
+  return table.GetPointer<Vector<T> *>(field.offset());
+}
+
+// Get a field, if you know it's a vector, generically.
+// To actually access elements, use the return value together with
+// field.type()->element() in any of GetAnyVectorElemI below etc.
+inline VectorOfAny *GetFieldAnyV(const Table &table,
+                                 const reflection::Field &field) {
+  return table.GetPointer<VectorOfAny *>(field.offset());
+}
+
+// Get a field, if you know it's a table.
+inline Table *GetFieldT(const Table &table, const reflection::Field &field) {
+  FLATBUFFERS_ASSERT(field.type()->base_type() == reflection::Obj ||
+                     field.type()->base_type() == reflection::Union);
+  return table.GetPointer<Table *>(field.offset());
+}
+
+// Get a field, if you know it's a struct.
+inline const Struct *GetFieldStruct(const Table &table,
+                                    const reflection::Field &field) {
+  // TODO: This does NOT check if the field is a table or struct, but we'd need
+  // access to the schema to check the is_struct flag.
+  FLATBUFFERS_ASSERT(field.type()->base_type() == reflection::Obj);
+  return table.GetStruct<const Struct *>(field.offset());
+}
+
+// Get a structure's field, if you know it's a struct.
+inline const Struct *GetFieldStruct(const Struct &structure,
+                                    const reflection::Field &field) {
+  FLATBUFFERS_ASSERT(field.type()->base_type() == reflection::Obj);
+  return structure.GetStruct<const Struct *>(field.offset());
+}
+
+// Raw helper functions used below: get any value in memory as a 64bit int, a
+// double or a string.
+// All scalars get static_cast to an int64_t, strings use strtoull, every other
+// data type returns 0.
+int64_t GetAnyValueI(reflection::BaseType type, const uint8_t *data);
+// All scalars static cast to double, strings use strtod, every other data
+// type is 0.0.
+double GetAnyValueF(reflection::BaseType type, const uint8_t *data);
+// All scalars converted using stringstream, strings as-is, and all other
+// data types provide some level of debug-pretty-printing.
+std::string GetAnyValueS(reflection::BaseType type, const uint8_t *data,
+                         const reflection::Schema *schema, int type_index);
+
+// Get any table field as a 64bit int, regardless of what type it is.
+inline int64_t GetAnyFieldI(const Table &table,
+                            const reflection::Field &field) {
+  auto field_ptr = table.GetAddressOf(field.offset());
+  return field_ptr ? GetAnyValueI(field.type()->base_type(), field_ptr)
+                   : field.default_integer();
+}
+
+// Get any table field as a double, regardless of what type it is.
+inline double GetAnyFieldF(const Table &table, const reflection::Field &field) {
+  auto field_ptr = table.GetAddressOf(field.offset());
+  return field_ptr ? GetAnyValueF(field.type()->base_type(), field_ptr)
+                   : field.default_real();
+}
+
+// Get any table field as a string, regardless of what type it is.
+// You may pass nullptr for the schema if you don't care to have fields that
+// are of table type pretty-printed.
+inline std::string GetAnyFieldS(const Table &table,
+                                const reflection::Field &field,
+                                const reflection::Schema *schema) {
+  auto field_ptr = table.GetAddressOf(field.offset());
+  return field_ptr ? GetAnyValueS(field.type()->base_type(), field_ptr, schema,
+                                  field.type()->index())
+                   : "";
+}
+
+// Get any struct field as a 64bit int, regardless of what type it is.
+inline int64_t GetAnyFieldI(const Struct &st, const reflection::Field &field) {
+  return GetAnyValueI(field.type()->base_type(),
+                      st.GetAddressOf(field.offset()));
+}
+
+// Get any struct field as a double, regardless of what type it is.
+inline double GetAnyFieldF(const Struct &st, const reflection::Field &field) {
+  return GetAnyValueF(field.type()->base_type(),
+                      st.GetAddressOf(field.offset()));
+}
+
+// Get any struct field as a string, regardless of what type it is.
+inline std::string GetAnyFieldS(const Struct &st,
+                                const reflection::Field &field) {
+  return GetAnyValueS(field.type()->base_type(),
+                      st.GetAddressOf(field.offset()), nullptr, -1);
+}
+
+// Get any vector element as a 64bit int, regardless of what type it is.
+inline int64_t GetAnyVectorElemI(const VectorOfAny *vec,
+                                 reflection::BaseType elem_type, size_t i) {
+  return GetAnyValueI(elem_type, vec->Data() + GetTypeSize(elem_type) * i);
+}
+
+// Get any vector element as a double, regardless of what type it is.
+inline double GetAnyVectorElemF(const VectorOfAny *vec,
+                                reflection::BaseType elem_type, size_t i) {
+  return GetAnyValueF(elem_type, vec->Data() + GetTypeSize(elem_type) * i);
+}
+
+// Get any vector element as a string, regardless of what type it is.
+inline std::string GetAnyVectorElemS(const VectorOfAny *vec,
+                                     reflection::BaseType elem_type, size_t i) {
+  return GetAnyValueS(elem_type, vec->Data() + GetTypeSize(elem_type) * i,
+                      nullptr, -1);
+}
+
+// Get a vector element that's a table/string/vector from a generic vector.
+// Pass Table/String/VectorOfAny as template parameter.
+// Warning: does no typechecking.
+template<typename T>
+T *GetAnyVectorElemPointer(const VectorOfAny *vec, size_t i) {
+  auto elem_ptr = vec->Data() + sizeof(uoffset_t) * i;
+  return reinterpret_cast<T*>(elem_ptr + ReadScalar<uoffset_t>(elem_ptr));
+}
+
+// Get the inline-address of a vector element. Useful for Structs (pass Struct
+// as template arg), or being able to address a range of scalars in-line.
+// Get elem_size from GetTypeSizeInline().
+// Note: little-endian data on all platforms, use EndianScalar() instead of
+// raw pointer access with scalars).
+template<typename T>
+T *GetAnyVectorElemAddressOf(const VectorOfAny *vec, size_t i,
+                             size_t elem_size) {
+  return reinterpret_cast<T *>(vec->Data() + elem_size * i);
+}
+
+// Similarly, for elements of tables.
+template<typename T>
+T *GetAnyFieldAddressOf(const Table &table, const reflection::Field &field) {
+  return reinterpret_cast<T *>(table.GetAddressOf(field.offset()));
+}
+
+// Similarly, for elements of structs.
+template<typename T>
+T *GetAnyFieldAddressOf(const Struct &st, const reflection::Field &field) {
+  return reinterpret_cast<T *>(st.GetAddressOf(field.offset()));
+}
+
+// ------------------------- SETTERS -------------------------
+
+// Set any scalar field, if you know its exact type.
+template<typename T>
+bool SetField(Table *table, const reflection::Field &field, T val) {
+  reflection::BaseType type = field.type()->base_type();
+  if (!IsScalar(type)) { return false; }
+  FLATBUFFERS_ASSERT(sizeof(T) == GetTypeSize(type));
+  T def;
+  if (IsInteger(type)) {
+    def = GetFieldDefaultI<T>(field);
+  } else {
+    FLATBUFFERS_ASSERT(IsFloat(type));
+    def = GetFieldDefaultF<T>(field);
+  }
+  return table->SetField(field.offset(), val, def);
+}
+
+// Raw helper functions used below: set any value in memory as a 64bit int, a
+// double or a string.
+// These work for all scalar values, but do nothing for other data types.
+// To set a string, see SetString below.
+void SetAnyValueI(reflection::BaseType type, uint8_t *data, int64_t val);
+void SetAnyValueF(reflection::BaseType type, uint8_t *data, double val);
+void SetAnyValueS(reflection::BaseType type, uint8_t *data, const char *val);
+
+// Set any table field as a 64bit int, regardless of type what it is.
+inline bool SetAnyFieldI(Table *table, const reflection::Field &field,
+                         int64_t val) {
+  auto field_ptr = table->GetAddressOf(field.offset());
+  if (!field_ptr) return val == GetFieldDefaultI<int64_t>(field);
+  SetAnyValueI(field.type()->base_type(), field_ptr, val);
+  return true;
+}
+
+// Set any table field as a double, regardless of what type it is.
+inline bool SetAnyFieldF(Table *table, const reflection::Field &field,
+                         double val) {
+  auto field_ptr = table->GetAddressOf(field.offset());
+  if (!field_ptr) return val == GetFieldDefaultF<double>(field);
+  SetAnyValueF(field.type()->base_type(), field_ptr, val);
+  return true;
+}
+
+// Set any table field as a string, regardless of what type it is.
+inline bool SetAnyFieldS(Table *table, const reflection::Field &field,
+                         const char *val) {
+  auto field_ptr = table->GetAddressOf(field.offset());
+  if (!field_ptr) return false;
+  SetAnyValueS(field.type()->base_type(), field_ptr, val);
+  return true;
+}
+
+// Set any struct field as a 64bit int, regardless of type what it is.
+inline void SetAnyFieldI(Struct *st, const reflection::Field &field,
+                         int64_t val) {
+  SetAnyValueI(field.type()->base_type(), st->GetAddressOf(field.offset()),
+               val);
+}
+
+// Set any struct field as a double, regardless of type what it is.
+inline void SetAnyFieldF(Struct *st, const reflection::Field &field,
+                         double val) {
+  SetAnyValueF(field.type()->base_type(), st->GetAddressOf(field.offset()),
+               val);
+}
+
+// Set any struct field as a string, regardless of type what it is.
+inline void SetAnyFieldS(Struct *st, const reflection::Field &field,
+                         const char *val) {
+  SetAnyValueS(field.type()->base_type(), st->GetAddressOf(field.offset()),
+               val);
+}
+
+// Set any vector element as a 64bit int, regardless of type what it is.
+inline void SetAnyVectorElemI(VectorOfAny *vec, reflection::BaseType elem_type,
+                              size_t i, int64_t val) {
+  SetAnyValueI(elem_type, vec->Data() + GetTypeSize(elem_type) * i, val);
+}
+
+// Set any vector element as a double, regardless of type what it is.
+inline void SetAnyVectorElemF(VectorOfAny *vec, reflection::BaseType elem_type,
+                              size_t i, double val) {
+  SetAnyValueF(elem_type, vec->Data() + GetTypeSize(elem_type) * i, val);
+}
+
+// Set any vector element as a string, regardless of type what it is.
+inline void SetAnyVectorElemS(VectorOfAny *vec, reflection::BaseType elem_type,
+                              size_t i, const char *val) {
+  SetAnyValueS(elem_type, vec->Data() + GetTypeSize(elem_type) * i, val);
+}
+
+// ------------------------- RESIZING SETTERS -------------------------
+
+// "smart" pointer for use with resizing vectors: turns a pointer inside
+// a vector into a relative offset, such that it is not affected by resizes.
+template<typename T, typename U> class pointer_inside_vector {
+ public:
+  pointer_inside_vector(T *ptr, std::vector<U> &vec)
+      : offset_(reinterpret_cast<uint8_t *>(ptr) -
+                reinterpret_cast<uint8_t *>(flatbuffers::vector_data(vec))),
+        vec_(vec) {}
+
+  T *operator*() const {
+    return reinterpret_cast<T *>(
+        reinterpret_cast<uint8_t *>(flatbuffers::vector_data(vec_)) + offset_);
+  }
+  T *operator->() const { return operator*(); }
+  void operator=(const pointer_inside_vector &piv);
+
+ private:
+  size_t offset_;
+  std::vector<U> &vec_;
+};
+
+// Helper to create the above easily without specifying template args.
+template<typename T, typename U>
+pointer_inside_vector<T, U> piv(T *ptr, std::vector<U> &vec) {
+  return pointer_inside_vector<T, U>(ptr, vec);
+}
+
+inline const char *UnionTypeFieldSuffix() { return "_type"; }
+
+// Helper to figure out the actual table type a union refers to.
+inline const reflection::Object &GetUnionType(
+    const reflection::Schema &schema, const reflection::Object &parent,
+    const reflection::Field &unionfield, const Table &table) {
+  auto enumdef = schema.enums()->Get(unionfield.type()->index());
+  // TODO: this is clumsy and slow, but no other way to find it?
+  auto type_field = parent.fields()->LookupByKey(
+      (unionfield.name()->str() + UnionTypeFieldSuffix()).c_str());
+  FLATBUFFERS_ASSERT(type_field);
+  auto union_type = GetFieldI<uint8_t>(table, *type_field);
+  auto enumval = enumdef->values()->LookupByKey(union_type);
+  return *enumval->object();
+}
+
+// Changes the contents of a string inside a FlatBuffer. FlatBuffer must
+// live inside a std::vector so we can resize the buffer if needed.
+// "str" must live inside "flatbuf" and may be invalidated after this call.
+// If your FlatBuffer's root table is not the schema's root table, you should
+// pass in your root_table type as well.
+void SetString(const reflection::Schema &schema, const std::string &val,
+               const String *str, std::vector<uint8_t> *flatbuf,
+               const reflection::Object *root_table = nullptr);
+
+// Resizes a flatbuffers::Vector inside a FlatBuffer. FlatBuffer must
+// live inside a std::vector so we can resize the buffer if needed.
+// "vec" must live inside "flatbuf" and may be invalidated after this call.
+// If your FlatBuffer's root table is not the schema's root table, you should
+// pass in your root_table type as well.
+uint8_t *ResizeAnyVector(const reflection::Schema &schema, uoffset_t newsize,
+                         const VectorOfAny *vec, uoffset_t num_elems,
+                         uoffset_t elem_size, std::vector<uint8_t> *flatbuf,
+                         const reflection::Object *root_table = nullptr);
+
+template<typename T>
+void ResizeVector(const reflection::Schema &schema, uoffset_t newsize, T val,
+                  const Vector<T> *vec, std::vector<uint8_t> *flatbuf,
+                  const reflection::Object *root_table = nullptr) {
+  auto delta_elem = static_cast<int>(newsize) - static_cast<int>(vec->size());
+  auto newelems = ResizeAnyVector(
+      schema, newsize, reinterpret_cast<const VectorOfAny *>(vec), vec->size(),
+      static_cast<uoffset_t>(sizeof(T)), flatbuf, root_table);
+  // Set new elements to "val".
+  for (int i = 0; i < delta_elem; i++) {
+    auto loc = newelems + i * sizeof(T);
+    auto is_scalar = flatbuffers::is_scalar<T>::value;
+    if (is_scalar) {
+      WriteScalar(loc, val);
+    } else {  // struct
+      *reinterpret_cast<T *>(loc) = val;
+    }
+  }
+}
+
+// Adds any new data (in the form of a new FlatBuffer) to an existing
+// FlatBuffer. This can be used when any of the above methods are not
+// sufficient, in particular for adding new tables and new fields.
+// This is potentially slightly less efficient than a FlatBuffer constructed
+// in one piece, since the new FlatBuffer doesn't share any vtables with the
+// existing one.
+// The return value can now be set using Vector::MutateOffset or SetFieldT
+// below.
+const uint8_t *AddFlatBuffer(std::vector<uint8_t> &flatbuf,
+                             const uint8_t *newbuf, size_t newlen);
+
+inline bool SetFieldT(Table *table, const reflection::Field &field,
+                      const uint8_t *val) {
+  FLATBUFFERS_ASSERT(sizeof(uoffset_t) ==
+                     GetTypeSize(field.type()->base_type()));
+  return table->SetPointer(field.offset(), val);
+}
+
+// ------------------------- COPYING -------------------------
+
+// Generic copying of tables from a FlatBuffer into a FlatBuffer builder.
+// Can be used to do any kind of merging/selecting you may want to do out
+// of existing buffers. Also useful to reconstruct a whole buffer if the
+// above resizing functionality has introduced garbage in a buffer you want
+// to remove.
+// Note: this does not deal with DAGs correctly. If the table passed forms a
+// DAG, the copy will be a tree instead (with duplicates). Strings can be
+// shared however, by passing true for use_string_pooling.
+
+Offset<const Table *> CopyTable(FlatBufferBuilder &fbb,
+                                const reflection::Schema &schema,
+                                const reflection::Object &objectdef,
+                                const Table &table,
+                                bool use_string_pooling = false);
+
+// Verifies the provided flatbuffer using reflection.
+// root should point to the root type for this flatbuffer.
+// buf should point to the start of flatbuffer data.
+// length specifies the size of the flatbuffer data.
+bool Verify(const reflection::Schema &schema, const reflection::Object &root,
+            const uint8_t *buf, size_t length);
+
+}  // namespace flatbuffers
+
+#endif  // FLATBUFFERS_REFLECTION_H_
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/reflection_generated.h b/host/lib/deps/flatbuffers/include/flatbuffers/reflection_generated.h
new file mode 100644
index 000000000..869a9f3f2
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/reflection_generated.h
@@ -0,0 +1,1182 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+
+#ifndef FLATBUFFERS_GENERATED_REFLECTION_REFLECTION_H_
+#define FLATBUFFERS_GENERATED_REFLECTION_REFLECTION_H_
+
+#include "flatbuffers/flatbuffers.h"
+
+namespace reflection {
+
+struct Type;
+
+struct KeyValue;
+
+struct EnumVal;
+
+struct Enum;
+
+struct Field;
+
+struct Object;
+
+struct RPCCall;
+
+struct Service;
+
+struct Schema;
+
+enum BaseType {
+  None = 0,
+  UType = 1,
+  Bool = 2,
+  Byte = 3,
+  UByte = 4,
+  Short = 5,
+  UShort = 6,
+  Int = 7,
+  UInt = 8,
+  Long = 9,
+  ULong = 10,
+  Float = 11,
+  Double = 12,
+  String = 13,
+  Vector = 14,
+  Obj = 15,
+  Union = 16
+};
+
+inline const BaseType (&EnumValuesBaseType())[17] {
+  static const BaseType values[] = {
+    None,
+    UType,
+    Bool,
+    Byte,
+    UByte,
+    Short,
+    UShort,
+    Int,
+    UInt,
+    Long,
+    ULong,
+    Float,
+    Double,
+    String,
+    Vector,
+    Obj,
+    Union
+  };
+  return values;
+}
+
+inline const char * const *EnumNamesBaseType() {
+  static const char * const names[] = {
+    "None",
+    "UType",
+    "Bool",
+    "Byte",
+    "UByte",
+    "Short",
+    "UShort",
+    "Int",
+    "UInt",
+    "Long",
+    "ULong",
+    "Float",
+    "Double",
+    "String",
+    "Vector",
+    "Obj",
+    "Union",
+    nullptr
+  };
+  return names;
+}
+
+inline const char *EnumNameBaseType(BaseType e) {
+  if (e < None || e > Union) return "";
+  const size_t index = static_cast<size_t>(e);
+  return EnumNamesBaseType()[index];
+}
+
+struct Type FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_BASE_TYPE = 4,
+    VT_ELEMENT = 6,
+    VT_INDEX = 8
+  };
+  BaseType base_type() const {
+    return static_cast<BaseType>(GetField<int8_t>(VT_BASE_TYPE, 0));
+  }
+  BaseType element() const {
+    return static_cast<BaseType>(GetField<int8_t>(VT_ELEMENT, 0));
+  }
+  int32_t index() const {
+    return GetField<int32_t>(VT_INDEX, -1);
+  }
+  bool Verify(flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyField<int8_t>(verifier, VT_BASE_TYPE) &&
+           VerifyField<int8_t>(verifier, VT_ELEMENT) &&
+           VerifyField<int32_t>(verifier, VT_INDEX) &&
+           verifier.EndTable();
+  }
+};
+
+struct TypeBuilder {
+  flatbuffers::FlatBufferBuilder &fbb_;
+  flatbuffers::uoffset_t start_;
+  void add_base_type(BaseType base_type) {
+    fbb_.AddElement<int8_t>(Type::VT_BASE_TYPE, static_cast<int8_t>(base_type), 0);
+  }
+  void add_element(BaseType element) {
+    fbb_.AddElement<int8_t>(Type::VT_ELEMENT, static_cast<int8_t>(element), 0);
+  }
+  void add_index(int32_t index) {
+    fbb_.AddElement<int32_t>(Type::VT_INDEX, index, -1);
+  }
+  explicit TypeBuilder(flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  TypeBuilder &operator=(const TypeBuilder &);
+  flatbuffers::Offset<Type> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = flatbuffers::Offset<Type>(end);
+    return o;
+  }
+};
+
+inline flatbuffers::Offset<Type> CreateType(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    BaseType base_type = None,
+    BaseType element = None,
+    int32_t index = -1) {
+  TypeBuilder builder_(_fbb);
+  builder_.add_index(index);
+  builder_.add_element(element);
+  builder_.add_base_type(base_type);
+  return builder_.Finish();
+}
+
+struct KeyValue FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_KEY = 4,
+    VT_VALUE = 6
+  };
+  const flatbuffers::String *key() const {
+    return GetPointer<const flatbuffers::String *>(VT_KEY);
+  }
+  bool KeyCompareLessThan(const KeyValue *o) const {
+    return *key() < *o->key();
+  }
+  int KeyCompareWithValue(const char *val) const {
+    return strcmp(key()->c_str(), val);
+  }
+  const flatbuffers::String *value() const {
+    return GetPointer<const flatbuffers::String *>(VT_VALUE);
+  }
+  bool Verify(flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyOffsetRequired(verifier, VT_KEY) &&
+           verifier.VerifyString(key()) &&
+           VerifyOffset(verifier, VT_VALUE) &&
+           verifier.VerifyString(value()) &&
+           verifier.EndTable();
+  }
+};
+
+struct KeyValueBuilder {
+  flatbuffers::FlatBufferBuilder &fbb_;
+  flatbuffers::uoffset_t start_;
+  void add_key(flatbuffers::Offset<flatbuffers::String> key) {
+    fbb_.AddOffset(KeyValue::VT_KEY, key);
+  }
+  void add_value(flatbuffers::Offset<flatbuffers::String> value) {
+    fbb_.AddOffset(KeyValue::VT_VALUE, value);
+  }
+  explicit KeyValueBuilder(flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  KeyValueBuilder &operator=(const KeyValueBuilder &);
+  flatbuffers::Offset<KeyValue> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = flatbuffers::Offset<KeyValue>(end);
+    fbb_.Required(o, KeyValue::VT_KEY);
+    return o;
+  }
+};
+
+inline flatbuffers::Offset<KeyValue> CreateKeyValue(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    flatbuffers::Offset<flatbuffers::String> key = 0,
+    flatbuffers::Offset<flatbuffers::String> value = 0) {
+  KeyValueBuilder builder_(_fbb);
+  builder_.add_value(value);
+  builder_.add_key(key);
+  return builder_.Finish();
+}
+
+inline flatbuffers::Offset<KeyValue> CreateKeyValueDirect(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    const char *key = nullptr,
+    const char *value = nullptr) {
+  auto key__ = key ? _fbb.CreateString(key) : 0;
+  auto value__ = value ? _fbb.CreateString(value) : 0;
+  return reflection::CreateKeyValue(
+      _fbb,
+      key__,
+      value__);
+}
+
+struct EnumVal FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_NAME = 4,
+    VT_VALUE = 6,
+    VT_OBJECT = 8,
+    VT_UNION_TYPE = 10,
+    VT_DOCUMENTATION = 12
+  };
+  const flatbuffers::String *name() const {
+    return GetPointer<const flatbuffers::String *>(VT_NAME);
+  }
+  int64_t value() const {
+    return GetField<int64_t>(VT_VALUE, 0);
+  }
+  bool KeyCompareLessThan(const EnumVal *o) const {
+    return value() < o->value();
+  }
+  int KeyCompareWithValue(int64_t val) const {
+    return static_cast<int>(value() > val) - static_cast<int>(value() < val);
+  }
+  const Object *object() const {
+    return GetPointer<const Object *>(VT_OBJECT);
+  }
+  const Type *union_type() const {
+    return GetPointer<const Type *>(VT_UNION_TYPE);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *documentation() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *>(VT_DOCUMENTATION);
+  }
+  bool Verify(flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyOffsetRequired(verifier, VT_NAME) &&
+           verifier.VerifyString(name()) &&
+           VerifyField<int64_t>(verifier, VT_VALUE) &&
+           VerifyOffset(verifier, VT_OBJECT) &&
+           verifier.VerifyTable(object()) &&
+           VerifyOffset(verifier, VT_UNION_TYPE) &&
+           verifier.VerifyTable(union_type()) &&
+           VerifyOffset(verifier, VT_DOCUMENTATION) &&
+           verifier.VerifyVector(documentation()) &&
+           verifier.VerifyVectorOfStrings(documentation()) &&
+           verifier.EndTable();
+  }
+};
+
+struct EnumValBuilder {
+  flatbuffers::FlatBufferBuilder &fbb_;
+  flatbuffers::uoffset_t start_;
+  void add_name(flatbuffers::Offset<flatbuffers::String> name) {
+    fbb_.AddOffset(EnumVal::VT_NAME, name);
+  }
+  void add_value(int64_t value) {
+    fbb_.AddElement<int64_t>(EnumVal::VT_VALUE, value, 0);
+  }
+  void add_object(flatbuffers::Offset<Object> object) {
+    fbb_.AddOffset(EnumVal::VT_OBJECT, object);
+  }
+  void add_union_type(flatbuffers::Offset<Type> union_type) {
+    fbb_.AddOffset(EnumVal::VT_UNION_TYPE, union_type);
+  }
+  void add_documentation(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation) {
+    fbb_.AddOffset(EnumVal::VT_DOCUMENTATION, documentation);
+  }
+  explicit EnumValBuilder(flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  EnumValBuilder &operator=(const EnumValBuilder &);
+  flatbuffers::Offset<EnumVal> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = flatbuffers::Offset<EnumVal>(end);
+    fbb_.Required(o, EnumVal::VT_NAME);
+    return o;
+  }
+};
+
+inline flatbuffers::Offset<EnumVal> CreateEnumVal(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    flatbuffers::Offset<flatbuffers::String> name = 0,
+    int64_t value = 0,
+    flatbuffers::Offset<Object> object = 0,
+    flatbuffers::Offset<Type> union_type = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation = 0) {
+  EnumValBuilder builder_(_fbb);
+  builder_.add_value(value);
+  builder_.add_documentation(documentation);
+  builder_.add_union_type(union_type);
+  builder_.add_object(object);
+  builder_.add_name(name);
+  return builder_.Finish();
+}
+
+inline flatbuffers::Offset<EnumVal> CreateEnumValDirect(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    const char *name = nullptr,
+    int64_t value = 0,
+    flatbuffers::Offset<Object> object = 0,
+    flatbuffers::Offset<Type> union_type = 0,
+    const std::vector<flatbuffers::Offset<flatbuffers::String>> *documentation = nullptr) {
+  auto name__ = name ? _fbb.CreateString(name) : 0;
+  auto documentation__ = documentation ? _fbb.CreateVector<flatbuffers::Offset<flatbuffers::String>>(*documentation) : 0;
+  return reflection::CreateEnumVal(
+      _fbb,
+      name__,
+      value,
+      object,
+      union_type,
+      documentation__);
+}
+
+struct Enum FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_NAME = 4,
+    VT_VALUES = 6,
+    VT_IS_UNION = 8,
+    VT_UNDERLYING_TYPE = 10,
+    VT_ATTRIBUTES = 12,
+    VT_DOCUMENTATION = 14
+  };
+  const flatbuffers::String *name() const {
+    return GetPointer<const flatbuffers::String *>(VT_NAME);
+  }
+  bool KeyCompareLessThan(const Enum *o) const {
+    return *name() < *o->name();
+  }
+  int KeyCompareWithValue(const char *val) const {
+    return strcmp(name()->c_str(), val);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<EnumVal>> *values() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<EnumVal>> *>(VT_VALUES);
+  }
+  bool is_union() const {
+    return GetField<uint8_t>(VT_IS_UNION, 0) != 0;
+  }
+  const Type *underlying_type() const {
+    return GetPointer<const Type *>(VT_UNDERLYING_TYPE);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<KeyValue>> *attributes() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<KeyValue>> *>(VT_ATTRIBUTES);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *documentation() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *>(VT_DOCUMENTATION);
+  }
+  bool Verify(flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyOffsetRequired(verifier, VT_NAME) &&
+           verifier.VerifyString(name()) &&
+           VerifyOffsetRequired(verifier, VT_VALUES) &&
+           verifier.VerifyVector(values()) &&
+           verifier.VerifyVectorOfTables(values()) &&
+           VerifyField<uint8_t>(verifier, VT_IS_UNION) &&
+           VerifyOffsetRequired(verifier, VT_UNDERLYING_TYPE) &&
+           verifier.VerifyTable(underlying_type()) &&
+           VerifyOffset(verifier, VT_ATTRIBUTES) &&
+           verifier.VerifyVector(attributes()) &&
+           verifier.VerifyVectorOfTables(attributes()) &&
+           VerifyOffset(verifier, VT_DOCUMENTATION) &&
+           verifier.VerifyVector(documentation()) &&
+           verifier.VerifyVectorOfStrings(documentation()) &&
+           verifier.EndTable();
+  }
+};
+
+struct EnumBuilder {
+  flatbuffers::FlatBufferBuilder &fbb_;
+  flatbuffers::uoffset_t start_;
+  void add_name(flatbuffers::Offset<flatbuffers::String> name) {
+    fbb_.AddOffset(Enum::VT_NAME, name);
+  }
+  void add_values(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<EnumVal>>> values) {
+    fbb_.AddOffset(Enum::VT_VALUES, values);
+  }
+  void add_is_union(bool is_union) {
+    fbb_.AddElement<uint8_t>(Enum::VT_IS_UNION, static_cast<uint8_t>(is_union), 0);
+  }
+  void add_underlying_type(flatbuffers::Offset<Type> underlying_type) {
+    fbb_.AddOffset(Enum::VT_UNDERLYING_TYPE, underlying_type);
+  }
+  void add_attributes(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<KeyValue>>> attributes) {
+    fbb_.AddOffset(Enum::VT_ATTRIBUTES, attributes);
+  }
+  void add_documentation(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation) {
+    fbb_.AddOffset(Enum::VT_DOCUMENTATION, documentation);
+  }
+  explicit EnumBuilder(flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  EnumBuilder &operator=(const EnumBuilder &);
+  flatbuffers::Offset<Enum> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = flatbuffers::Offset<Enum>(end);
+    fbb_.Required(o, Enum::VT_NAME);
+    fbb_.Required(o, Enum::VT_VALUES);
+    fbb_.Required(o, Enum::VT_UNDERLYING_TYPE);
+    return o;
+  }
+};
+
+inline flatbuffers::Offset<Enum> CreateEnum(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    flatbuffers::Offset<flatbuffers::String> name = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<EnumVal>>> values = 0,
+    bool is_union = false,
+    flatbuffers::Offset<Type> underlying_type = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<KeyValue>>> attributes = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation = 0) {
+  EnumBuilder builder_(_fbb);
+  builder_.add_documentation(documentation);
+  builder_.add_attributes(attributes);
+  builder_.add_underlying_type(underlying_type);
+  builder_.add_values(values);
+  builder_.add_name(name);
+  builder_.add_is_union(is_union);
+  return builder_.Finish();
+}
+
+inline flatbuffers::Offset<Enum> CreateEnumDirect(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    const char *name = nullptr,
+    const std::vector<flatbuffers::Offset<EnumVal>> *values = nullptr,
+    bool is_union = false,
+    flatbuffers::Offset<Type> underlying_type = 0,
+    const std::vector<flatbuffers::Offset<KeyValue>> *attributes = nullptr,
+    const std::vector<flatbuffers::Offset<flatbuffers::String>> *documentation = nullptr) {
+  auto name__ = name ? _fbb.CreateString(name) : 0;
+  auto values__ = values ? _fbb.CreateVector<flatbuffers::Offset<EnumVal>>(*values) : 0;
+  auto attributes__ = attributes ? _fbb.CreateVector<flatbuffers::Offset<KeyValue>>(*attributes) : 0;
+  auto documentation__ = documentation ? _fbb.CreateVector<flatbuffers::Offset<flatbuffers::String>>(*documentation) : 0;
+  return reflection::CreateEnum(
+      _fbb,
+      name__,
+      values__,
+      is_union,
+      underlying_type,
+      attributes__,
+      documentation__);
+}
+
+struct Field FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_NAME = 4,
+    VT_TYPE = 6,
+    VT_ID = 8,
+    VT_OFFSET = 10,
+    VT_DEFAULT_INTEGER = 12,
+    VT_DEFAULT_REAL = 14,
+    VT_DEPRECATED = 16,
+    VT_REQUIRED = 18,
+    VT_KEY = 20,
+    VT_ATTRIBUTES = 22,
+    VT_DOCUMENTATION = 24
+  };
+  const flatbuffers::String *name() const {
+    return GetPointer<const flatbuffers::String *>(VT_NAME);
+  }
+  bool KeyCompareLessThan(const Field *o) const {
+    return *name() < *o->name();
+  }
+  int KeyCompareWithValue(const char *val) const {
+    return strcmp(name()->c_str(), val);
+  }
+  const Type *type() const {
+    return GetPointer<const Type *>(VT_TYPE);
+  }
+  uint16_t id() const {
+    return GetField<uint16_t>(VT_ID, 0);
+  }
+  uint16_t offset() const {
+    return GetField<uint16_t>(VT_OFFSET, 0);
+  }
+  int64_t default_integer() const {
+    return GetField<int64_t>(VT_DEFAULT_INTEGER, 0);
+  }
+  double default_real() const {
+    return GetField<double>(VT_DEFAULT_REAL, 0.0);
+  }
+  bool deprecated() const {
+    return GetField<uint8_t>(VT_DEPRECATED, 0) != 0;
+  }
+  bool required() const {
+    return GetField<uint8_t>(VT_REQUIRED, 0) != 0;
+  }
+  bool key() const {
+    return GetField<uint8_t>(VT_KEY, 0) != 0;
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<KeyValue>> *attributes() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<KeyValue>> *>(VT_ATTRIBUTES);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *documentation() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *>(VT_DOCUMENTATION);
+  }
+  bool Verify(flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyOffsetRequired(verifier, VT_NAME) &&
+           verifier.VerifyString(name()) &&
+           VerifyOffsetRequired(verifier, VT_TYPE) &&
+           verifier.VerifyTable(type()) &&
+           VerifyField<uint16_t>(verifier, VT_ID) &&
+           VerifyField<uint16_t>(verifier, VT_OFFSET) &&
+           VerifyField<int64_t>(verifier, VT_DEFAULT_INTEGER) &&
+           VerifyField<double>(verifier, VT_DEFAULT_REAL) &&
+           VerifyField<uint8_t>(verifier, VT_DEPRECATED) &&
+           VerifyField<uint8_t>(verifier, VT_REQUIRED) &&
+           VerifyField<uint8_t>(verifier, VT_KEY) &&
+           VerifyOffset(verifier, VT_ATTRIBUTES) &&
+           verifier.VerifyVector(attributes()) &&
+           verifier.VerifyVectorOfTables(attributes()) &&
+           VerifyOffset(verifier, VT_DOCUMENTATION) &&
+           verifier.VerifyVector(documentation()) &&
+           verifier.VerifyVectorOfStrings(documentation()) &&
+           verifier.EndTable();
+  }
+};
+
+struct FieldBuilder {
+  flatbuffers::FlatBufferBuilder &fbb_;
+  flatbuffers::uoffset_t start_;
+  void add_name(flatbuffers::Offset<flatbuffers::String> name) {
+    fbb_.AddOffset(Field::VT_NAME, name);
+  }
+  void add_type(flatbuffers::Offset<Type> type) {
+    fbb_.AddOffset(Field::VT_TYPE, type);
+  }
+  void add_id(uint16_t id) {
+    fbb_.AddElement<uint16_t>(Field::VT_ID, id, 0);
+  }
+  void add_offset(uint16_t offset) {
+    fbb_.AddElement<uint16_t>(Field::VT_OFFSET, offset, 0);
+  }
+  void add_default_integer(int64_t default_integer) {
+    fbb_.AddElement<int64_t>(Field::VT_DEFAULT_INTEGER, default_integer, 0);
+  }
+  void add_default_real(double default_real) {
+    fbb_.AddElement<double>(Field::VT_DEFAULT_REAL, default_real, 0.0);
+  }
+  void add_deprecated(bool deprecated) {
+    fbb_.AddElement<uint8_t>(Field::VT_DEPRECATED, static_cast<uint8_t>(deprecated), 0);
+  }
+  void add_required(bool required) {
+    fbb_.AddElement<uint8_t>(Field::VT_REQUIRED, static_cast<uint8_t>(required), 0);
+  }
+  void add_key(bool key) {
+    fbb_.AddElement<uint8_t>(Field::VT_KEY, static_cast<uint8_t>(key), 0);
+  }
+  void add_attributes(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<KeyValue>>> attributes) {
+    fbb_.AddOffset(Field::VT_ATTRIBUTES, attributes);
+  }
+  void add_documentation(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation) {
+    fbb_.AddOffset(Field::VT_DOCUMENTATION, documentation);
+  }
+  explicit FieldBuilder(flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  FieldBuilder &operator=(const FieldBuilder &);
+  flatbuffers::Offset<Field> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = flatbuffers::Offset<Field>(end);
+    fbb_.Required(o, Field::VT_NAME);
+    fbb_.Required(o, Field::VT_TYPE);
+    return o;
+  }
+};
+
+inline flatbuffers::Offset<Field> CreateField(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    flatbuffers::Offset<flatbuffers::String> name = 0,
+    flatbuffers::Offset<Type> type = 0,
+    uint16_t id = 0,
+    uint16_t offset = 0,
+    int64_t default_integer = 0,
+    double default_real = 0.0,
+    bool deprecated = false,
+    bool required = false,
+    bool key = false,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<KeyValue>>> attributes = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation = 0) {
+  FieldBuilder builder_(_fbb);
+  builder_.add_default_real(default_real);
+  builder_.add_default_integer(default_integer);
+  builder_.add_documentation(documentation);
+  builder_.add_attributes(attributes);
+  builder_.add_type(type);
+  builder_.add_name(name);
+  builder_.add_offset(offset);
+  builder_.add_id(id);
+  builder_.add_key(key);
+  builder_.add_required(required);
+  builder_.add_deprecated(deprecated);
+  return builder_.Finish();
+}
+
+inline flatbuffers::Offset<Field> CreateFieldDirect(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    const char *name = nullptr,
+    flatbuffers::Offset<Type> type = 0,
+    uint16_t id = 0,
+    uint16_t offset = 0,
+    int64_t default_integer = 0,
+    double default_real = 0.0,
+    bool deprecated = false,
+    bool required = false,
+    bool key = false,
+    const std::vector<flatbuffers::Offset<KeyValue>> *attributes = nullptr,
+    const std::vector<flatbuffers::Offset<flatbuffers::String>> *documentation = nullptr) {
+  auto name__ = name ? _fbb.CreateString(name) : 0;
+  auto attributes__ = attributes ? _fbb.CreateVector<flatbuffers::Offset<KeyValue>>(*attributes) : 0;
+  auto documentation__ = documentation ? _fbb.CreateVector<flatbuffers::Offset<flatbuffers::String>>(*documentation) : 0;
+  return reflection::CreateField(
+      _fbb,
+      name__,
+      type,
+      id,
+      offset,
+      default_integer,
+      default_real,
+      deprecated,
+      required,
+      key,
+      attributes__,
+      documentation__);
+}
+
+struct Object FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_NAME = 4,
+    VT_FIELDS = 6,
+    VT_IS_STRUCT = 8,
+    VT_MINALIGN = 10,
+    VT_BYTESIZE = 12,
+    VT_ATTRIBUTES = 14,
+    VT_DOCUMENTATION = 16
+  };
+  const flatbuffers::String *name() const {
+    return GetPointer<const flatbuffers::String *>(VT_NAME);
+  }
+  bool KeyCompareLessThan(const Object *o) const {
+    return *name() < *o->name();
+  }
+  int KeyCompareWithValue(const char *val) const {
+    return strcmp(name()->c_str(), val);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<Field>> *fields() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<Field>> *>(VT_FIELDS);
+  }
+  bool is_struct() const {
+    return GetField<uint8_t>(VT_IS_STRUCT, 0) != 0;
+  }
+  int32_t minalign() const {
+    return GetField<int32_t>(VT_MINALIGN, 0);
+  }
+  int32_t bytesize() const {
+    return GetField<int32_t>(VT_BYTESIZE, 0);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<KeyValue>> *attributes() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<KeyValue>> *>(VT_ATTRIBUTES);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *documentation() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *>(VT_DOCUMENTATION);
+  }
+  bool Verify(flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyOffsetRequired(verifier, VT_NAME) &&
+           verifier.VerifyString(name()) &&
+           VerifyOffsetRequired(verifier, VT_FIELDS) &&
+           verifier.VerifyVector(fields()) &&
+           verifier.VerifyVectorOfTables(fields()) &&
+           VerifyField<uint8_t>(verifier, VT_IS_STRUCT) &&
+           VerifyField<int32_t>(verifier, VT_MINALIGN) &&
+           VerifyField<int32_t>(verifier, VT_BYTESIZE) &&
+           VerifyOffset(verifier, VT_ATTRIBUTES) &&
+           verifier.VerifyVector(attributes()) &&
+           verifier.VerifyVectorOfTables(attributes()) &&
+           VerifyOffset(verifier, VT_DOCUMENTATION) &&
+           verifier.VerifyVector(documentation()) &&
+           verifier.VerifyVectorOfStrings(documentation()) &&
+           verifier.EndTable();
+  }
+};
+
+struct ObjectBuilder {
+  flatbuffers::FlatBufferBuilder &fbb_;
+  flatbuffers::uoffset_t start_;
+  void add_name(flatbuffers::Offset<flatbuffers::String> name) {
+    fbb_.AddOffset(Object::VT_NAME, name);
+  }
+  void add_fields(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Field>>> fields) {
+    fbb_.AddOffset(Object::VT_FIELDS, fields);
+  }
+  void add_is_struct(bool is_struct) {
+    fbb_.AddElement<uint8_t>(Object::VT_IS_STRUCT, static_cast<uint8_t>(is_struct), 0);
+  }
+  void add_minalign(int32_t minalign) {
+    fbb_.AddElement<int32_t>(Object::VT_MINALIGN, minalign, 0);
+  }
+  void add_bytesize(int32_t bytesize) {
+    fbb_.AddElement<int32_t>(Object::VT_BYTESIZE, bytesize, 0);
+  }
+  void add_attributes(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<KeyValue>>> attributes) {
+    fbb_.AddOffset(Object::VT_ATTRIBUTES, attributes);
+  }
+  void add_documentation(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation) {
+    fbb_.AddOffset(Object::VT_DOCUMENTATION, documentation);
+  }
+  explicit ObjectBuilder(flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  ObjectBuilder &operator=(const ObjectBuilder &);
+  flatbuffers::Offset<Object> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = flatbuffers::Offset<Object>(end);
+    fbb_.Required(o, Object::VT_NAME);
+    fbb_.Required(o, Object::VT_FIELDS);
+    return o;
+  }
+};
+
+inline flatbuffers::Offset<Object> CreateObject(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    flatbuffers::Offset<flatbuffers::String> name = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Field>>> fields = 0,
+    bool is_struct = false,
+    int32_t minalign = 0,
+    int32_t bytesize = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<KeyValue>>> attributes = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation = 0) {
+  ObjectBuilder builder_(_fbb);
+  builder_.add_documentation(documentation);
+  builder_.add_attributes(attributes);
+  builder_.add_bytesize(bytesize);
+  builder_.add_minalign(minalign);
+  builder_.add_fields(fields);
+  builder_.add_name(name);
+  builder_.add_is_struct(is_struct);
+  return builder_.Finish();
+}
+
+inline flatbuffers::Offset<Object> CreateObjectDirect(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    const char *name = nullptr,
+    const std::vector<flatbuffers::Offset<Field>> *fields = nullptr,
+    bool is_struct = false,
+    int32_t minalign = 0,
+    int32_t bytesize = 0,
+    const std::vector<flatbuffers::Offset<KeyValue>> *attributes = nullptr,
+    const std::vector<flatbuffers::Offset<flatbuffers::String>> *documentation = nullptr) {
+  auto name__ = name ? _fbb.CreateString(name) : 0;
+  auto fields__ = fields ? _fbb.CreateVector<flatbuffers::Offset<Field>>(*fields) : 0;
+  auto attributes__ = attributes ? _fbb.CreateVector<flatbuffers::Offset<KeyValue>>(*attributes) : 0;
+  auto documentation__ = documentation ? _fbb.CreateVector<flatbuffers::Offset<flatbuffers::String>>(*documentation) : 0;
+  return reflection::CreateObject(
+      _fbb,
+      name__,
+      fields__,
+      is_struct,
+      minalign,
+      bytesize,
+      attributes__,
+      documentation__);
+}
+
+struct RPCCall FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_NAME = 4,
+    VT_REQUEST = 6,
+    VT_RESPONSE = 8,
+    VT_ATTRIBUTES = 10,
+    VT_DOCUMENTATION = 12
+  };
+  const flatbuffers::String *name() const {
+    return GetPointer<const flatbuffers::String *>(VT_NAME);
+  }
+  bool KeyCompareLessThan(const RPCCall *o) const {
+    return *name() < *o->name();
+  }
+  int KeyCompareWithValue(const char *val) const {
+    return strcmp(name()->c_str(), val);
+  }
+  const Object *request() const {
+    return GetPointer<const Object *>(VT_REQUEST);
+  }
+  const Object *response() const {
+    return GetPointer<const Object *>(VT_RESPONSE);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<KeyValue>> *attributes() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<KeyValue>> *>(VT_ATTRIBUTES);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *documentation() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *>(VT_DOCUMENTATION);
+  }
+  bool Verify(flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyOffsetRequired(verifier, VT_NAME) &&
+           verifier.VerifyString(name()) &&
+           VerifyOffsetRequired(verifier, VT_REQUEST) &&
+           verifier.VerifyTable(request()) &&
+           VerifyOffsetRequired(verifier, VT_RESPONSE) &&
+           verifier.VerifyTable(response()) &&
+           VerifyOffset(verifier, VT_ATTRIBUTES) &&
+           verifier.VerifyVector(attributes()) &&
+           verifier.VerifyVectorOfTables(attributes()) &&
+           VerifyOffset(verifier, VT_DOCUMENTATION) &&
+           verifier.VerifyVector(documentation()) &&
+           verifier.VerifyVectorOfStrings(documentation()) &&
+           verifier.EndTable();
+  }
+};
+
+struct RPCCallBuilder {
+  flatbuffers::FlatBufferBuilder &fbb_;
+  flatbuffers::uoffset_t start_;
+  void add_name(flatbuffers::Offset<flatbuffers::String> name) {
+    fbb_.AddOffset(RPCCall::VT_NAME, name);
+  }
+  void add_request(flatbuffers::Offset<Object> request) {
+    fbb_.AddOffset(RPCCall::VT_REQUEST, request);
+  }
+  void add_response(flatbuffers::Offset<Object> response) {
+    fbb_.AddOffset(RPCCall::VT_RESPONSE, response);
+  }
+  void add_attributes(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<KeyValue>>> attributes) {
+    fbb_.AddOffset(RPCCall::VT_ATTRIBUTES, attributes);
+  }
+  void add_documentation(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation) {
+    fbb_.AddOffset(RPCCall::VT_DOCUMENTATION, documentation);
+  }
+  explicit RPCCallBuilder(flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  RPCCallBuilder &operator=(const RPCCallBuilder &);
+  flatbuffers::Offset<RPCCall> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = flatbuffers::Offset<RPCCall>(end);
+    fbb_.Required(o, RPCCall::VT_NAME);
+    fbb_.Required(o, RPCCall::VT_REQUEST);
+    fbb_.Required(o, RPCCall::VT_RESPONSE);
+    return o;
+  }
+};
+
+inline flatbuffers::Offset<RPCCall> CreateRPCCall(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    flatbuffers::Offset<flatbuffers::String> name = 0,
+    flatbuffers::Offset<Object> request = 0,
+    flatbuffers::Offset<Object> response = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<KeyValue>>> attributes = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation = 0) {
+  RPCCallBuilder builder_(_fbb);
+  builder_.add_documentation(documentation);
+  builder_.add_attributes(attributes);
+  builder_.add_response(response);
+  builder_.add_request(request);
+  builder_.add_name(name);
+  return builder_.Finish();
+}
+
+inline flatbuffers::Offset<RPCCall> CreateRPCCallDirect(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    const char *name = nullptr,
+    flatbuffers::Offset<Object> request = 0,
+    flatbuffers::Offset<Object> response = 0,
+    const std::vector<flatbuffers::Offset<KeyValue>> *attributes = nullptr,
+    const std::vector<flatbuffers::Offset<flatbuffers::String>> *documentation = nullptr) {
+  auto name__ = name ? _fbb.CreateString(name) : 0;
+  auto attributes__ = attributes ? _fbb.CreateVector<flatbuffers::Offset<KeyValue>>(*attributes) : 0;
+  auto documentation__ = documentation ? _fbb.CreateVector<flatbuffers::Offset<flatbuffers::String>>(*documentation) : 0;
+  return reflection::CreateRPCCall(
+      _fbb,
+      name__,
+      request,
+      response,
+      attributes__,
+      documentation__);
+}
+
+struct Service FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_NAME = 4,
+    VT_CALLS = 6,
+    VT_ATTRIBUTES = 8,
+    VT_DOCUMENTATION = 10
+  };
+  const flatbuffers::String *name() const {
+    return GetPointer<const flatbuffers::String *>(VT_NAME);
+  }
+  bool KeyCompareLessThan(const Service *o) const {
+    return *name() < *o->name();
+  }
+  int KeyCompareWithValue(const char *val) const {
+    return strcmp(name()->c_str(), val);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<RPCCall>> *calls() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<RPCCall>> *>(VT_CALLS);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<KeyValue>> *attributes() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<KeyValue>> *>(VT_ATTRIBUTES);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *documentation() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> *>(VT_DOCUMENTATION);
+  }
+  bool Verify(flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyOffsetRequired(verifier, VT_NAME) &&
+           verifier.VerifyString(name()) &&
+           VerifyOffset(verifier, VT_CALLS) &&
+           verifier.VerifyVector(calls()) &&
+           verifier.VerifyVectorOfTables(calls()) &&
+           VerifyOffset(verifier, VT_ATTRIBUTES) &&
+           verifier.VerifyVector(attributes()) &&
+           verifier.VerifyVectorOfTables(attributes()) &&
+           VerifyOffset(verifier, VT_DOCUMENTATION) &&
+           verifier.VerifyVector(documentation()) &&
+           verifier.VerifyVectorOfStrings(documentation()) &&
+           verifier.EndTable();
+  }
+};
+
+struct ServiceBuilder {
+  flatbuffers::FlatBufferBuilder &fbb_;
+  flatbuffers::uoffset_t start_;
+  void add_name(flatbuffers::Offset<flatbuffers::String> name) {
+    fbb_.AddOffset(Service::VT_NAME, name);
+  }
+  void add_calls(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<RPCCall>>> calls) {
+    fbb_.AddOffset(Service::VT_CALLS, calls);
+  }
+  void add_attributes(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<KeyValue>>> attributes) {
+    fbb_.AddOffset(Service::VT_ATTRIBUTES, attributes);
+  }
+  void add_documentation(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation) {
+    fbb_.AddOffset(Service::VT_DOCUMENTATION, documentation);
+  }
+  explicit ServiceBuilder(flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  ServiceBuilder &operator=(const ServiceBuilder &);
+  flatbuffers::Offset<Service> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = flatbuffers::Offset<Service>(end);
+    fbb_.Required(o, Service::VT_NAME);
+    return o;
+  }
+};
+
+inline flatbuffers::Offset<Service> CreateService(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    flatbuffers::Offset<flatbuffers::String> name = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<RPCCall>>> calls = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<KeyValue>>> attributes = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>> documentation = 0) {
+  ServiceBuilder builder_(_fbb);
+  builder_.add_documentation(documentation);
+  builder_.add_attributes(attributes);
+  builder_.add_calls(calls);
+  builder_.add_name(name);
+  return builder_.Finish();
+}
+
+inline flatbuffers::Offset<Service> CreateServiceDirect(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    const char *name = nullptr,
+    const std::vector<flatbuffers::Offset<RPCCall>> *calls = nullptr,
+    const std::vector<flatbuffers::Offset<KeyValue>> *attributes = nullptr,
+    const std::vector<flatbuffers::Offset<flatbuffers::String>> *documentation = nullptr) {
+  auto name__ = name ? _fbb.CreateString(name) : 0;
+  auto calls__ = calls ? _fbb.CreateVector<flatbuffers::Offset<RPCCall>>(*calls) : 0;
+  auto attributes__ = attributes ? _fbb.CreateVector<flatbuffers::Offset<KeyValue>>(*attributes) : 0;
+  auto documentation__ = documentation ? _fbb.CreateVector<flatbuffers::Offset<flatbuffers::String>>(*documentation) : 0;
+  return reflection::CreateService(
+      _fbb,
+      name__,
+      calls__,
+      attributes__,
+      documentation__);
+}
+
+struct Schema FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_OBJECTS = 4,
+    VT_ENUMS = 6,
+    VT_FILE_IDENT = 8,
+    VT_FILE_EXT = 10,
+    VT_ROOT_TABLE = 12,
+    VT_SERVICES = 14
+  };
+  const flatbuffers::Vector<flatbuffers::Offset<Object>> *objects() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<Object>> *>(VT_OBJECTS);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<Enum>> *enums() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<Enum>> *>(VT_ENUMS);
+  }
+  const flatbuffers::String *file_ident() const {
+    return GetPointer<const flatbuffers::String *>(VT_FILE_IDENT);
+  }
+  const flatbuffers::String *file_ext() const {
+    return GetPointer<const flatbuffers::String *>(VT_FILE_EXT);
+  }
+  const Object *root_table() const {
+    return GetPointer<const Object *>(VT_ROOT_TABLE);
+  }
+  const flatbuffers::Vector<flatbuffers::Offset<Service>> *services() const {
+    return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<Service>> *>(VT_SERVICES);
+  }
+  bool Verify(flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyOffsetRequired(verifier, VT_OBJECTS) &&
+           verifier.VerifyVector(objects()) &&
+           verifier.VerifyVectorOfTables(objects()) &&
+           VerifyOffsetRequired(verifier, VT_ENUMS) &&
+           verifier.VerifyVector(enums()) &&
+           verifier.VerifyVectorOfTables(enums()) &&
+           VerifyOffset(verifier, VT_FILE_IDENT) &&
+           verifier.VerifyString(file_ident()) &&
+           VerifyOffset(verifier, VT_FILE_EXT) &&
+           verifier.VerifyString(file_ext()) &&
+           VerifyOffset(verifier, VT_ROOT_TABLE) &&
+           verifier.VerifyTable(root_table()) &&
+           VerifyOffset(verifier, VT_SERVICES) &&
+           verifier.VerifyVector(services()) &&
+           verifier.VerifyVectorOfTables(services()) &&
+           verifier.EndTable();
+  }
+};
+
+struct SchemaBuilder {
+  flatbuffers::FlatBufferBuilder &fbb_;
+  flatbuffers::uoffset_t start_;
+  void add_objects(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Object>>> objects) {
+    fbb_.AddOffset(Schema::VT_OBJECTS, objects);
+  }
+  void add_enums(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Enum>>> enums) {
+    fbb_.AddOffset(Schema::VT_ENUMS, enums);
+  }
+  void add_file_ident(flatbuffers::Offset<flatbuffers::String> file_ident) {
+    fbb_.AddOffset(Schema::VT_FILE_IDENT, file_ident);
+  }
+  void add_file_ext(flatbuffers::Offset<flatbuffers::String> file_ext) {
+    fbb_.AddOffset(Schema::VT_FILE_EXT, file_ext);
+  }
+  void add_root_table(flatbuffers::Offset<Object> root_table) {
+    fbb_.AddOffset(Schema::VT_ROOT_TABLE, root_table);
+  }
+  void add_services(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Service>>> services) {
+    fbb_.AddOffset(Schema::VT_SERVICES, services);
+  }
+  explicit SchemaBuilder(flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  SchemaBuilder &operator=(const SchemaBuilder &);
+  flatbuffers::Offset<Schema> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = flatbuffers::Offset<Schema>(end);
+    fbb_.Required(o, Schema::VT_OBJECTS);
+    fbb_.Required(o, Schema::VT_ENUMS);
+    return o;
+  }
+};
+
+inline flatbuffers::Offset<Schema> CreateSchema(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Object>>> objects = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Enum>>> enums = 0,
+    flatbuffers::Offset<flatbuffers::String> file_ident = 0,
+    flatbuffers::Offset<flatbuffers::String> file_ext = 0,
+    flatbuffers::Offset<Object> root_table = 0,
+    flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Service>>> services = 0) {
+  SchemaBuilder builder_(_fbb);
+  builder_.add_services(services);
+  builder_.add_root_table(root_table);
+  builder_.add_file_ext(file_ext);
+  builder_.add_file_ident(file_ident);
+  builder_.add_enums(enums);
+  builder_.add_objects(objects);
+  return builder_.Finish();
+}
+
+inline flatbuffers::Offset<Schema> CreateSchemaDirect(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    const std::vector<flatbuffers::Offset<Object>> *objects = nullptr,
+    const std::vector<flatbuffers::Offset<Enum>> *enums = nullptr,
+    const char *file_ident = nullptr,
+    const char *file_ext = nullptr,
+    flatbuffers::Offset<Object> root_table = 0,
+    const std::vector<flatbuffers::Offset<Service>> *services = nullptr) {
+  auto objects__ = objects ? _fbb.CreateVector<flatbuffers::Offset<Object>>(*objects) : 0;
+  auto enums__ = enums ? _fbb.CreateVector<flatbuffers::Offset<Enum>>(*enums) : 0;
+  auto file_ident__ = file_ident ? _fbb.CreateString(file_ident) : 0;
+  auto file_ext__ = file_ext ? _fbb.CreateString(file_ext) : 0;
+  auto services__ = services ? _fbb.CreateVector<flatbuffers::Offset<Service>>(*services) : 0;
+  return reflection::CreateSchema(
+      _fbb,
+      objects__,
+      enums__,
+      file_ident__,
+      file_ext__,
+      root_table,
+      services__);
+}
+
+inline const reflection::Schema *GetSchema(const void *buf) {
+  return flatbuffers::GetRoot<reflection::Schema>(buf);
+}
+
+inline const reflection::Schema *GetSizePrefixedSchema(const void *buf) {
+  return flatbuffers::GetSizePrefixedRoot<reflection::Schema>(buf);
+}
+
+inline const char *SchemaIdentifier() {
+  return "BFBS";
+}
+
+inline bool SchemaBufferHasIdentifier(const void *buf) {
+  return flatbuffers::BufferHasIdentifier(
+      buf, SchemaIdentifier());
+}
+
+inline bool VerifySchemaBuffer(
+    flatbuffers::Verifier &verifier) {
+  return verifier.VerifyBuffer<reflection::Schema>(SchemaIdentifier());
+}
+
+inline bool VerifySizePrefixedSchemaBuffer(
+    flatbuffers::Verifier &verifier) {
+  return verifier.VerifySizePrefixedBuffer<reflection::Schema>(SchemaIdentifier());
+}
+
+inline const char *SchemaExtension() {
+  return "bfbs";
+}
+
+inline void FinishSchemaBuffer(
+    flatbuffers::FlatBufferBuilder &fbb,
+    flatbuffers::Offset<reflection::Schema> root) {
+  fbb.Finish(root, SchemaIdentifier());
+}
+
+inline void FinishSizePrefixedSchemaBuffer(
+    flatbuffers::FlatBufferBuilder &fbb,
+    flatbuffers::Offset<reflection::Schema> root) {
+  fbb.FinishSizePrefixed(root, SchemaIdentifier());
+}
+
+}  // namespace reflection
+
+#endif  // FLATBUFFERS_GENERATED_REFLECTION_REFLECTION_H_
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/stl_emulation.h b/host/lib/deps/flatbuffers/include/flatbuffers/stl_emulation.h
new file mode 100644
index 000000000..6f6e76642
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/stl_emulation.h
@@ -0,0 +1,275 @@
+/*
+ * Copyright 2017 Google Inc. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef FLATBUFFERS_STL_EMULATION_H_
+#define FLATBUFFERS_STL_EMULATION_H_
+
+// clang-format off
+
+#include <string>
+#include <type_traits>
+#include <vector>
+#include <memory>
+#include <limits>
+
+#if defined(_STLPORT_VERSION) && !defined(FLATBUFFERS_CPP98_STL)
+  #define FLATBUFFERS_CPP98_STL
+#endif  // defined(_STLPORT_VERSION) && !defined(FLATBUFFERS_CPP98_STL)
+
+#if defined(FLATBUFFERS_CPP98_STL)
+  #include <cctype>
+#endif  // defined(FLATBUFFERS_CPP98_STL)
+
+// Check if we can use template aliases
+// Not possible if Microsoft Compiler before 2012
+// Possible is the language feature __cpp_alias_templates is defined well
+// Or possible if the C++ std is C+11 or newer
+#if (defined(_MSC_VER) && _MSC_VER > 1700 /* MSVC2012 */) \
+    || (defined(__cpp_alias_templates) && __cpp_alias_templates >= 200704) \
+    || (defined(__cplusplus) && __cplusplus >= 201103L)
+  #define FLATBUFFERS_TEMPLATES_ALIASES
+#endif
+
+// This header provides backwards compatibility for C++98 STLs like stlport.
+namespace flatbuffers {
+
+// Retrieve ::back() from a string in a way that is compatible with pre C++11
+// STLs (e.g stlport).
+inline char& string_back(std::string &value) {
+  return value[value.length() - 1];
+}
+
+inline char string_back(const std::string &value) {
+  return value[value.length() - 1];
+}
+
+// Helper method that retrieves ::data() from a vector in a way that is
+// compatible with pre C++11 STLs (e.g stlport).
+template <typename T> inline T *vector_data(std::vector<T> &vector) {
+  // In some debug environments, operator[] does bounds checking, so &vector[0]
+  // can't be used.
+  return vector.empty() ? nullptr : &vector[0];
+}
+
+template <typename T> inline const T *vector_data(
+    const std::vector<T> &vector) {
+  return vector.empty() ? nullptr : &vector[0];
+}
+
+template <typename T, typename V>
+inline void vector_emplace_back(std::vector<T> *vector, V &&data) {
+  #if defined(FLATBUFFERS_CPP98_STL)
+    vector->push_back(data);
+  #else
+    vector->emplace_back(std::forward<V>(data));
+  #endif  // defined(FLATBUFFERS_CPP98_STL)
+}
+
+#ifndef FLATBUFFERS_CPP98_STL
+  #if defined(FLATBUFFERS_TEMPLATES_ALIASES)
+    template <typename T>
+    using numeric_limits = std::numeric_limits<T>;
+  #else
+    template <typename T> class numeric_limits :
+      public std::numeric_limits<T> {};
+  #endif  // defined(FLATBUFFERS_TEMPLATES_ALIASES)
+#else
+  template <typename T> class numeric_limits :
+      public std::numeric_limits<T> {
+    public:
+      // Android NDK fix.
+      static T lowest() {
+        return std::numeric_limits<T>::min();
+      }
+  };
+
+  template <> class numeric_limits<float> : 
+      public std::numeric_limits<float> {
+    public:
+      static float lowest() { return -FLT_MAX; }
+  };
+
+  template <> class numeric_limits<double> : 
+      public std::numeric_limits<double> {
+    public:
+      static double lowest() { return -DBL_MAX; }
+  };
+
+  template <> class numeric_limits<unsigned long long> {
+   public:
+    static unsigned long long min() { return 0ULL; }
+    static unsigned long long max() { return ~0ULL; }
+    static unsigned long long lowest() {
+      return numeric_limits<unsigned long long>::min();
+    }
+  };
+
+  template <> class numeric_limits<long long> {
+   public:
+    static long long min() {
+      return static_cast<long long>(1ULL << ((sizeof(long long) << 3) - 1));
+    }
+    static long long max() {
+      return static_cast<long long>(
+          (1ULL << ((sizeof(long long) << 3) - 1)) - 1);
+    }
+    static long long lowest() {
+      return numeric_limits<long long>::min();
+    }
+  };
+#endif  // FLATBUFFERS_CPP98_STL
+
+#if defined(FLATBUFFERS_TEMPLATES_ALIASES)
+  #ifndef FLATBUFFERS_CPP98_STL
+    template <typename T> using is_scalar = std::is_scalar<T>;
+    template <typename T, typename U> using is_same = std::is_same<T,U>;
+    template <typename T> using is_floating_point = std::is_floating_point<T>;
+    template <typename T> using is_unsigned = std::is_unsigned<T>;
+    template <typename T> using make_unsigned = std::make_unsigned<T>;
+  #else
+    // Map C++ TR1 templates defined by stlport.
+    template <typename T> using is_scalar = std::tr1::is_scalar<T>;
+    template <typename T, typename U> using is_same = std::tr1::is_same<T,U>;
+    template <typename T> using is_floating_point =
+        std::tr1::is_floating_point<T>;
+    template <typename T> using is_unsigned = std::tr1::is_unsigned<T>;
+    // Android NDK doesn't have std::make_unsigned or std::tr1::make_unsigned.
+    template<typename T> struct make_unsigned {
+      static_assert(is_unsigned<T>::value, "Specialization not implemented!");
+      using type = T;
+    };
+    template<> struct make_unsigned<char> { using type = unsigned char; };
+    template<> struct make_unsigned<short> { using type = unsigned short; };
+    template<> struct make_unsigned<int> { using type = unsigned int; };
+    template<> struct make_unsigned<long> { using type = unsigned long; };
+    template<>
+    struct make_unsigned<long long> { using type = unsigned long long; };
+  #endif  // !FLATBUFFERS_CPP98_STL
+#else
+  // MSVC 2010 doesn't support C++11 aliases.
+  template <typename T> struct is_scalar : public std::is_scalar<T> {};
+  template <typename T, typename U> struct is_same : public std::is_same<T,U> {};
+  template <typename T> struct is_floating_point :
+        public std::is_floating_point<T> {};
+  template <typename T> struct is_unsigned : public std::is_unsigned<T> {};
+  template <typename T> struct make_unsigned : public std::make_unsigned<T> {};
+#endif  // defined(FLATBUFFERS_TEMPLATES_ALIASES)
+
+#ifndef FLATBUFFERS_CPP98_STL
+  #if defined(FLATBUFFERS_TEMPLATES_ALIASES)
+    template <class T> using unique_ptr = std::unique_ptr<T>;
+  #else
+    // MSVC 2010 doesn't support C++11 aliases.
+    // We're manually "aliasing" the class here as we want to bring unique_ptr
+    // into the flatbuffers namespace.  We have unique_ptr in the flatbuffers
+    // namespace we have a completely independent implemenation (see below)
+    // for C++98 STL implementations.
+    template <class T> class unique_ptr : public std::unique_ptr<T> {
+     public:
+      unique_ptr() {}
+      explicit unique_ptr(T* p) : std::unique_ptr<T>(p) {}
+      unique_ptr(std::unique_ptr<T>&& u) { *this = std::move(u); }
+      unique_ptr(unique_ptr&& u) { *this = std::move(u); }
+      unique_ptr& operator=(std::unique_ptr<T>&& u) {
+        std::unique_ptr<T>::reset(u.release());
+        return *this;
+      }
+      unique_ptr& operator=(unique_ptr&& u) {
+        std::unique_ptr<T>::reset(u.release());
+        return *this;
+      }
+      unique_ptr& operator=(T* p) {
+        return std::unique_ptr<T>::operator=(p);
+      }
+    };
+  #endif  // defined(FLATBUFFERS_TEMPLATES_ALIASES)
+#else
+  // Very limited implementation of unique_ptr.
+  // This is provided simply to allow the C++ code generated from the default
+  // settings to function in C++98 environments with no modifications.
+  template <class T> class unique_ptr {
+   public:
+    typedef T element_type;
+
+    unique_ptr() : ptr_(nullptr) {}
+    explicit unique_ptr(T* p) : ptr_(p) {}
+    unique_ptr(unique_ptr&& u) : ptr_(nullptr) { reset(u.release()); }
+    unique_ptr(const unique_ptr& u) : ptr_(nullptr) {
+      reset(const_cast<unique_ptr*>(&u)->release());
+    }
+    ~unique_ptr() { reset(); }
+
+    unique_ptr& operator=(const unique_ptr& u) {
+      reset(const_cast<unique_ptr*>(&u)->release());
+      return *this;
+    }
+
+    unique_ptr& operator=(unique_ptr&& u) {
+      reset(u.release());
+      return *this;
+    }
+
+    unique_ptr& operator=(T* p) {
+      reset(p);
+      return *this;
+    }
+
+    const T& operator*() const { return *ptr_; }
+    T* operator->() const { return ptr_; }
+    T* get() const noexcept { return ptr_; }
+    explicit operator bool() const { return ptr_ != nullptr; }
+
+    // modifiers
+    T* release() {
+      T* value = ptr_;
+      ptr_ = nullptr;
+      return value;
+    }
+
+    void reset(T* p = nullptr) {
+      T* value = ptr_;
+      ptr_ = p;
+      if (value) delete value;
+    }
+
+    void swap(unique_ptr& u) {
+      T* temp_ptr = ptr_;
+      ptr_ = u.ptr_;
+      u.ptr_ = temp_ptr;
+    }
+
+   private:
+    T* ptr_;
+  };
+
+  template <class T> bool operator==(const unique_ptr<T>& x,
+                                     const unique_ptr<T>& y) {
+    return x.get() == y.get();
+  }
+
+  template <class T, class D> bool operator==(const unique_ptr<T>& x,
+                                              const D* y) {
+    return static_cast<D*>(x.get()) == y;
+  }
+
+  template <class T> bool operator==(const unique_ptr<T>& x, intptr_t y) {
+    return reinterpret_cast<intptr_t>(x.get()) == y;
+  }
+#endif  // !FLATBUFFERS_CPP98_STL
+
+}  // namespace flatbuffers
+
+#endif  // FLATBUFFERS_STL_EMULATION_H_
diff --git a/host/lib/deps/flatbuffers/include/flatbuffers/util.h b/host/lib/deps/flatbuffers/include/flatbuffers/util.h
new file mode 100644
index 000000000..4367bbecf
--- /dev/null
+++ b/host/lib/deps/flatbuffers/include/flatbuffers/util.h
@@ -0,0 +1,654 @@
+/*
+ * Copyright 2014 Google Inc. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef FLATBUFFERS_UTIL_H_
+#define FLATBUFFERS_UTIL_H_
+
+#include "flatbuffers/base.h"
+
+#include <errno.h>
+
+#ifndef FLATBUFFERS_PREFER_PRINTF
+#  include <sstream>
+#else  // FLATBUFFERS_PREFER_PRINTF
+#  include <float.h>
+#  include <stdio.h>
+#endif  // FLATBUFFERS_PREFER_PRINTF
+
+#include <iomanip>
+#include <string>
+
+namespace flatbuffers {
+
+// @locale-independent functions for ASCII characters set.
+
+// Fast checking that character lies in closed range: [a <= x <= b]
+// using one compare (conditional branch) operator.
+inline bool check_ascii_range(char x, char a, char b) {
+  FLATBUFFERS_ASSERT(a <= b);
+  // (Hacker's Delight): `a <= x <= b` <=> `(x-a) <={u} (b-a)`.
+  // The x, a, b will be promoted to int and subtracted without overflow.
+  return static_cast<unsigned int>(x - a) <= static_cast<unsigned int>(b - a);
+}
+
+// Case-insensitive isalpha
+inline bool is_alpha(char c) {
+  // ASCII only: alpha to upper case => reset bit 0x20 (~0x20 = 0xDF).
+  return check_ascii_range(c & 0xDF, 'a' & 0xDF, 'z' & 0xDF);
+}
+
+// Check (case-insensitive) that `c` is equal to alpha.
+inline bool is_alpha_char(char c, char alpha) {
+  FLATBUFFERS_ASSERT(is_alpha(alpha));
+  // ASCII only: alpha to upper case => reset bit 0x20 (~0x20 = 0xDF).
+  return ((c & 0xDF) == (alpha & 0xDF));
+}
+
+// https://en.cppreference.com/w/cpp/string/byte/isxdigit
+// isdigit and isxdigit are the only standard narrow character classification
+// functions that are not affected by the currently installed C locale. although
+// some implementations (e.g. Microsoft in 1252 codepage) may classify
+// additional single-byte characters as digits.
+inline bool is_digit(char c) { return check_ascii_range(c, '0', '9'); }
+
+inline bool is_xdigit(char c) {
+  // Replace by look-up table.
+  return is_digit(c) || check_ascii_range(c & 0xDF, 'a' & 0xDF, 'f' & 0xDF);
+}
+
+// Case-insensitive isalnum
+inline bool is_alnum(char c) { return is_alpha(c) || is_digit(c); }
+
+// @end-locale-independent functions for ASCII character set
+
+#ifdef FLATBUFFERS_PREFER_PRINTF
+template<typename T> size_t IntToDigitCount(T t) {
+  size_t digit_count = 0;
+  // Count the sign for negative numbers
+  if (t < 0) digit_count++;
+  // Count a single 0 left of the dot for fractional numbers
+  if (-1 < t && t < 1) digit_count++;
+  // Count digits until fractional part
+  T eps = std::numeric_limits<float>::epsilon();
+  while (t <= (-1 + eps) || (1 - eps) <= t) {
+    t /= 10;
+    digit_count++;
+  }
+  return digit_count;
+}
+
+template<typename T> size_t NumToStringWidth(T t, int precision = 0) {
+  size_t string_width = IntToDigitCount(t);
+  // Count the dot for floating point numbers
+  if (precision) string_width += (precision + 1);
+  return string_width;
+}
+
+template<typename T>
+std::string NumToStringImplWrapper(T t, const char *fmt, int precision = 0) {
+  size_t string_width = NumToStringWidth(t, precision);
+  std::string s(string_width, 0x00);
+  // Allow snprintf to use std::string trailing null to detect buffer overflow
+  snprintf(const_cast<char *>(s.data()), (s.size() + 1), fmt, precision, t);
+  return s;
+}
+#endif  // FLATBUFFERS_PREFER_PRINTF
+
+// Convert an integer or floating point value to a string.
+// In contrast to std::stringstream, "char" values are
+// converted to a string of digits, and we don't use scientific notation.
+template<typename T> std::string NumToString(T t) {
+  // clang-format off
+
+  #ifndef FLATBUFFERS_PREFER_PRINTF
+    std::stringstream ss;
+    ss << t;
+    return ss.str();
+  #else // FLATBUFFERS_PREFER_PRINTF
+    auto v = static_cast<long long>(t);
+    return NumToStringImplWrapper(v, "%.*lld");
+  #endif // FLATBUFFERS_PREFER_PRINTF
+  // clang-format on
+}
+// Avoid char types used as character data.
+template<> inline std::string NumToString<signed char>(signed char t) {
+  return NumToString(static_cast<int>(t));
+}
+template<> inline std::string NumToString<unsigned char>(unsigned char t) {
+  return NumToString(static_cast<int>(t));
+}
+template<> inline std::string NumToString<char>(char t) {
+  return NumToString(static_cast<int>(t));
+}
+#if defined(FLATBUFFERS_CPP98_STL)
+template<> inline std::string NumToString<long long>(long long t) {
+  char buf[21];  // (log((1 << 63) - 1) / log(10)) + 2
+  snprintf(buf, sizeof(buf), "%lld", t);
+  return std::string(buf);
+}
+
+template<>
+inline std::string NumToString<unsigned long long>(unsigned long long t) {
+  char buf[22];  // (log((1 << 63) - 1) / log(10)) + 1
+  snprintf(buf, sizeof(buf), "%llu", t);
+  return std::string(buf);
+}
+#endif  // defined(FLATBUFFERS_CPP98_STL)
+
+// Special versions for floats/doubles.
+template<typename T> std::string FloatToString(T t, int precision) {
+  // clang-format off
+
+  #ifndef FLATBUFFERS_PREFER_PRINTF
+    // to_string() prints different numbers of digits for floats depending on
+    // platform and isn't available on Android, so we use stringstream
+    std::stringstream ss;
+    // Use std::fixed to suppress scientific notation.
+    ss << std::fixed;
+    // Default precision is 6, we want that to be higher for doubles.
+    ss << std::setprecision(precision);
+    ss << t;
+    auto s = ss.str();
+  #else // FLATBUFFERS_PREFER_PRINTF
+    auto v = static_cast<double>(t);
+    auto s = NumToStringImplWrapper(v, "%0.*f", precision);
+  #endif // FLATBUFFERS_PREFER_PRINTF
+  // clang-format on
+  // Sadly, std::fixed turns "1" into "1.00000", so here we undo that.
+  auto p = s.find_last_not_of('0');
+  if (p != std::string::npos) {
+    // Strip trailing zeroes. If it is a whole number, keep one zero.
+    s.resize(p + (s[p] == '.' ? 2 : 1));
+  }
+  return s;
+}
+
+template<> inline std::string NumToString<double>(double t) {
+  return FloatToString(t, 12);
+}
+template<> inline std::string NumToString<float>(float t) {
+  return FloatToString(t, 6);
+}
+
+// Convert an integer value to a hexadecimal string.
+// The returned string length is always xdigits long, prefixed by 0 digits.
+// For example, IntToStringHex(0x23, 8) returns the string "00000023".
+inline std::string IntToStringHex(int i, int xdigits) {
+  FLATBUFFERS_ASSERT(i >= 0);
+  // clang-format off
+
+  #ifndef FLATBUFFERS_PREFER_PRINTF
+    std::stringstream ss;
+    ss << std::setw(xdigits) << std::setfill('0') << std::hex << std::uppercase
+       << i;
+    return ss.str();
+  #else // FLATBUFFERS_PREFER_PRINTF
+    return NumToStringImplWrapper(i, "%.*X", xdigits);
+  #endif // FLATBUFFERS_PREFER_PRINTF
+  // clang-format on
+}
+
+// clang-format off
+// Use locale independent functions {strtod_l, strtof_l, strtoll_l, strtoull_l}.
+#if defined(FLATBUFFERS_LOCALE_INDEPENDENT) && (FLATBUFFERS_LOCALE_INDEPENDENT > 0)
+  class ClassicLocale {
+    #ifdef _MSC_VER
+      typedef _locale_t locale_type;
+    #else
+      typedef locale_t locale_type;  // POSIX.1-2008 locale_t type
+    #endif
+    ClassicLocale();
+    ~ClassicLocale();
+    locale_type locale_;
+    static ClassicLocale instance_;
+  public:
+    static locale_type Get() { return instance_.locale_; }
+  };
+
+  #ifdef _MSC_VER
+    #define __strtoull_impl(s, pe, b) _strtoui64_l(s, pe, b, ClassicLocale::Get())
+    #define __strtoll_impl(s, pe, b) _strtoi64_l(s, pe, b, ClassicLocale::Get())
+    #define __strtod_impl(s, pe) _strtod_l(s, pe, ClassicLocale::Get())
+    #define __strtof_impl(s, pe) _strtof_l(s, pe, ClassicLocale::Get())
+  #else
+    #define __strtoull_impl(s, pe, b) strtoull_l(s, pe, b, ClassicLocale::Get())
+    #define __strtoll_impl(s, pe, b) strtoll_l(s, pe, b, ClassicLocale::Get())
+    #define __strtod_impl(s, pe) strtod_l(s, pe, ClassicLocale::Get())
+    #define __strtof_impl(s, pe) strtof_l(s, pe, ClassicLocale::Get())
+  #endif
+#else
+  #define __strtod_impl(s, pe) strtod(s, pe)
+  #define __strtof_impl(s, pe) static_cast<float>(strtod(s, pe))
+  #ifdef _MSC_VER
+    #define __strtoull_impl(s, pe, b) _strtoui64(s, pe, b)
+    #define __strtoll_impl(s, pe, b) _strtoi64(s, pe, b)
+  #else
+    #define __strtoull_impl(s, pe, b) strtoull(s, pe, b)
+    #define __strtoll_impl(s, pe, b) strtoll(s, pe, b)
+  #endif
+#endif
+
+inline void strtoval_impl(int64_t *val, const char *str, char **endptr,
+                                 int base) {
+    *val = __strtoll_impl(str, endptr, base);
+}
+
+inline void strtoval_impl(uint64_t *val, const char *str, char **endptr,
+                                 int base) {
+  *val = __strtoull_impl(str, endptr, base);
+}
+
+inline void strtoval_impl(double *val, const char *str, char **endptr) {
+  *val = __strtod_impl(str, endptr);
+}
+
+// UBSAN: double to float is safe if numeric_limits<float>::is_iec559 is true.
+__supress_ubsan__("float-cast-overflow")
+inline void strtoval_impl(float *val, const char *str, char **endptr) {
+  *val = __strtof_impl(str, endptr);
+}
+#undef __strtoull_impl
+#undef __strtoll_impl
+#undef __strtod_impl
+#undef __strtof_impl
+// clang-format on
+
+// Adaptor for strtoull()/strtoll().
+// Flatbuffers accepts numbers with any count of leading zeros (-009 is -9),
+// while strtoll with base=0 interprets first leading zero as octal prefix.
+// In future, it is possible to add prefixed 0b0101.
+// 1) Checks errno code for overflow condition (out of range).
+// 2) If base <= 0, function try to detect base of number by prefix.
+//
+// Return value (like strtoull and strtoll, but reject partial result):
+// - If successful, an integer value corresponding to the str is returned.
+// - If full string conversion can't be performed, 0 is returned.
+// - If the converted value falls out of range of corresponding return type, a
+// range error occurs. In this case value MAX(T)/MIN(T) is returned.
+template<typename T>
+inline bool StringToIntegerImpl(T *val, const char *const str,
+                                const int base = 0,
+                                const bool check_errno = true) {
+  // T is int64_t or uint64_T
+  FLATBUFFERS_ASSERT(str);
+  if (base <= 0) {
+    auto s = str;
+    while (*s && !is_digit(*s)) s++;
+    if (s[0] == '0' && is_alpha_char(s[1], 'X'))
+      return StringToIntegerImpl(val, str, 16, check_errno);
+    // if a prefix not match, try base=10
+    return StringToIntegerImpl(val, str, 10, check_errno);
+  } else {
+    if (check_errno) errno = 0;  // clear thread-local errno
+    auto endptr = str;
+    strtoval_impl(val, str, const_cast<char **>(&endptr), base);
+    if ((*endptr != '\0') || (endptr == str)) {
+      *val = 0;      // erase partial result
+      return false;  // invalid string
+    }
+    // errno is out-of-range, return MAX/MIN
+    if (check_errno && errno) return false;
+    return true;
+  }
+}
+
+template<typename T>
+inline bool StringToFloatImpl(T *val, const char *const str) {
+  // Type T must be either float or double.
+  FLATBUFFERS_ASSERT(str && val);
+  auto end = str;
+  strtoval_impl(val, str, const_cast<char **>(&end));
+  auto done = (end != str) && (*end == '\0');
+  if (!done) *val = 0;  // erase partial result
+  return done;
+}
+
+// Convert a string to an instance of T.
+// Return value (matched with StringToInteger64Impl and strtod):
+// - If successful, a numeric value corresponding to the str is returned.
+// - If full string conversion can't be performed, 0 is returned.
+// - If the converted value falls out of range of corresponding return type, a
+// range error occurs. In this case value MAX(T)/MIN(T) is returned.
+template<typename T> inline bool StringToNumber(const char *s, T *val) {
+  FLATBUFFERS_ASSERT(s && val);
+  int64_t i64;
+  // The errno check isn't needed, will return MAX/MIN on overflow.
+  if (StringToIntegerImpl(&i64, s, 0, false)) {
+    const int64_t max = flatbuffers::numeric_limits<T>::max();
+    const int64_t min = flatbuffers::numeric_limits<T>::lowest();
+    if (i64 > max) {
+      *val = static_cast<T>(max);
+      return false;
+    }
+    if (i64 < min) {
+      // For unsigned types return max to distinguish from
+      // "no conversion can be performed" when 0 is returned.
+      *val = static_cast<T>(flatbuffers::is_unsigned<T>::value ? max : min);
+      return false;
+    }
+    *val = static_cast<T>(i64);
+    return true;
+  }
+  *val = 0;
+  return false;
+}
+
+template<> inline bool StringToNumber<int64_t>(const char *str, int64_t *val) {
+  return StringToIntegerImpl(val, str);
+}
+
+template<>
+inline bool StringToNumber<uint64_t>(const char *str, uint64_t *val) {
+  if (!StringToIntegerImpl(val, str)) return false;
+  // The strtoull accepts negative numbers:
+  // If the minus sign was part of the input sequence, the numeric value
+  // calculated from the sequence of digits is negated as if by unary minus
+  // in the result type, which applies unsigned integer wraparound rules.
+  // Fix this behaviour (except -0).
+  if (*val) {
+    auto s = str;
+    while (*s && !is_digit(*s)) s++;
+    s = (s > str) ? (s - 1) : s;  // step back to one symbol
+    if (*s == '-') {
+      // For unsigned types return the max to distinguish from
+      // "no conversion can be performed".
+      *val = flatbuffers::numeric_limits<uint64_t>::max();
+      return false;
+    }
+  }
+  return true;
+}
+
+template<> inline bool StringToNumber(const char *s, float *val) {
+  return StringToFloatImpl(val, s);
+}
+
+template<> inline bool StringToNumber(const char *s, double *val) {
+  return StringToFloatImpl(val, s);
+}
+
+inline int64_t StringToInt(const char *s, int base = 10) {
+  int64_t val;
+  return StringToIntegerImpl(&val, s, base) ? val : 0;
+}
+
+inline uint64_t StringToUInt(const char *s, int base = 10) {
+  uint64_t val;
+  return StringToIntegerImpl(&val, s, base) ? val : 0;
+}
+
+typedef bool (*LoadFileFunction)(const char *filename, bool binary,
+                                 std::string *dest);
+typedef bool (*FileExistsFunction)(const char *filename);
+
+LoadFileFunction SetLoadFileFunction(LoadFileFunction load_file_function);
+
+FileExistsFunction SetFileExistsFunction(
+    FileExistsFunction file_exists_function);
+
+// Check if file "name" exists.
+bool FileExists(const char *name);
+
+// Check if "name" exists and it is also a directory.
+bool DirExists(const char *name);
+
+// Load file "name" into "buf" returning true if successful
+// false otherwise.  If "binary" is false data is read
+// using ifstream's text mode, otherwise data is read with
+// no transcoding.
+bool LoadFile(const char *name, bool binary, std::string *buf);
+
+// Save data "buf" of length "len" bytes into a file
+// "name" returning true if successful, false otherwise.
+// If "binary" is false data is written using ifstream's
+// text mode, otherwise data is written with no
+// transcoding.
+bool SaveFile(const char *name, const char *buf, size_t len, bool binary);
+
+// Save data "buf" into file "name" returning true if
+// successful, false otherwise.  If "binary" is false
+// data is written using ifstream's text mode, otherwise
+// data is written with no transcoding.
+inline bool SaveFile(const char *name, const std::string &buf, bool binary) {
+  return SaveFile(name, buf.c_str(), buf.size(), binary);
+}
+
+// Functionality for minimalistic portable path handling.
+
+// The functions below behave correctly regardless of whether posix ('/') or
+// Windows ('/' or '\\') separators are used.
+
+// Any new separators inserted are always posix.
+FLATBUFFERS_CONSTEXPR char kPathSeparator = '/';
+
+// Returns the path with the extension, if any, removed.
+std::string StripExtension(const std::string &filepath);
+
+// Returns the extension, if any.
+std::string GetExtension(const std::string &filepath);
+
+// Return the last component of the path, after the last separator.
+std::string StripPath(const std::string &filepath);
+
+// Strip the last component of the path + separator.
+std::string StripFileName(const std::string &filepath);
+
+// Concatenates a path with a filename, regardless of wether the path
+// ends in a separator or not.
+std::string ConCatPathFileName(const std::string &path,
+                               const std::string &filename);
+
+// Replaces any '\\' separators with '/'
+std::string PosixPath(const char *path);
+
+// This function ensure a directory exists, by recursively
+// creating dirs for any parts of the path that don't exist yet.
+void EnsureDirExists(const std::string &filepath);
+
+// Obtains the absolute path from any other path.
+// Returns the input path if the absolute path couldn't be resolved.
+std::string AbsolutePath(const std::string &filepath);
+
+// To and from UTF-8 unicode conversion functions
+
+// Convert a unicode code point into a UTF-8 representation by appending it
+// to a string. Returns the number of bytes generated.
+inline int ToUTF8(uint32_t ucc, std::string *out) {
+  FLATBUFFERS_ASSERT(!(ucc & 0x80000000));  // Top bit can't be set.
+  // 6 possible encodings: http://en.wikipedia.org/wiki/UTF-8
+  for (int i = 0; i < 6; i++) {
+    // Max bits this encoding can represent.
+    uint32_t max_bits = 6 + i * 5 + static_cast<int>(!i);
+    if (ucc < (1u << max_bits)) {  // does it fit?
+      // Remaining bits not encoded in the first byte, store 6 bits each
+      uint32_t remain_bits = i * 6;
+      // Store first byte:
+      (*out) += static_cast<char>((0xFE << (max_bits - remain_bits)) |
+                                  (ucc >> remain_bits));
+      // Store remaining bytes:
+      for (int j = i - 1; j >= 0; j--) {
+        (*out) += static_cast<char>(((ucc >> (j * 6)) & 0x3F) | 0x80);
+      }
+      return i + 1;  // Return the number of bytes added.
+    }
+  }
+  FLATBUFFERS_ASSERT(0);  // Impossible to arrive here.
+  return -1;
+}
+
+// Converts whatever prefix of the incoming string corresponds to a valid
+// UTF-8 sequence into a unicode code. The incoming pointer will have been
+// advanced past all bytes parsed.
+// returns -1 upon corrupt UTF-8 encoding (ignore the incoming pointer in
+// this case).
+inline int FromUTF8(const char **in) {
+  int len = 0;
+  // Count leading 1 bits.
+  for (int mask = 0x80; mask >= 0x04; mask >>= 1) {
+    if (**in & mask) {
+      len++;
+    } else {
+      break;
+    }
+  }
+  if ((static_cast<unsigned char>(**in) << len) & 0x80)
+    return -1;  // Bit after leading 1's must be 0.
+  if (!len) return *(*in)++;
+  // UTF-8 encoded values with a length are between 2 and 4 bytes.
+  if (len < 2 || len > 4) { return -1; }
+  // Grab initial bits of the code.
+  int ucc = *(*in)++ & ((1 << (7 - len)) - 1);
+  for (int i = 0; i < len - 1; i++) {
+    if ((**in & 0xC0) != 0x80) return -1;  // Upper bits must 1 0.
+    ucc <<= 6;
+    ucc |= *(*in)++ & 0x3F;  // Grab 6 more bits of the code.
+  }
+  // UTF-8 cannot encode values between 0xD800 and 0xDFFF (reserved for
+  // UTF-16 surrogate pairs).
+  if (ucc >= 0xD800 && ucc <= 0xDFFF) { return -1; }
+  // UTF-8 must represent code points in their shortest possible encoding.
+  switch (len) {
+    case 2:
+      // Two bytes of UTF-8 can represent code points from U+0080 to U+07FF.
+      if (ucc < 0x0080 || ucc > 0x07FF) { return -1; }
+      break;
+    case 3:
+      // Three bytes of UTF-8 can represent code points from U+0800 to U+FFFF.
+      if (ucc < 0x0800 || ucc > 0xFFFF) { return -1; }
+      break;
+    case 4:
+      // Four bytes of UTF-8 can represent code points from U+10000 to U+10FFFF.
+      if (ucc < 0x10000 || ucc > 0x10FFFF) { return -1; }
+      break;
+  }
+  return ucc;
+}
+
+#ifndef FLATBUFFERS_PREFER_PRINTF
+// Wraps a string to a maximum length, inserting new lines where necessary. Any
+// existing whitespace will be collapsed down to a single space. A prefix or
+// suffix can be provided, which will be inserted before or after a wrapped
+// line, respectively.
+inline std::string WordWrap(const std::string in, size_t max_length,
+                            const std::string wrapped_line_prefix,
+                            const std::string wrapped_line_suffix) {
+  std::istringstream in_stream(in);
+  std::string wrapped, line, word;
+
+  in_stream >> word;
+  line = word;
+
+  while (in_stream >> word) {
+    if ((line.length() + 1 + word.length() + wrapped_line_suffix.length()) <
+        max_length) {
+      line += " " + word;
+    } else {
+      wrapped += line + wrapped_line_suffix + "\n";
+      line = wrapped_line_prefix + word;
+    }
+  }
+  wrapped += line;
+
+  return wrapped;
+}
+#endif  // !FLATBUFFERS_PREFER_PRINTF
+
+inline bool EscapeString(const char *s, size_t length, std::string *_text,
+                         bool allow_non_utf8, bool natural_utf8) {
+  std::string &text = *_text;
+  text += "\"";
+  for (uoffset_t i = 0; i < length; i++) {
+    char c = s[i];
+    switch (c) {
+      case '\n': text += "\\n"; break;
+      case '\t': text += "\\t"; break;
+      case '\r': text += "\\r"; break;
+      case '\b': text += "\\b"; break;
+      case '\f': text += "\\f"; break;
+      case '\"': text += "\\\""; break;
+      case '\\': text += "\\\\"; break;
+      default:
+        if (c >= ' ' && c <= '~') {
+          text += c;
+        } else {
+          // Not printable ASCII data. Let's see if it's valid UTF-8 first:
+          const char *utf8 = s + i;
+          int ucc = FromUTF8(&utf8);
+          if (ucc < 0) {
+            if (allow_non_utf8) {
+              text += "\\x";
+              text += IntToStringHex(static_cast<uint8_t>(c), 2);
+            } else {
+              // There are two cases here:
+              //
+              // 1) We reached here by parsing an IDL file. In that case,
+              // we previously checked for non-UTF-8, so we shouldn't reach
+              // here.
+              //
+              // 2) We reached here by someone calling GenerateText()
+              // on a previously-serialized flatbuffer. The data might have
+              // non-UTF-8 Strings, or might be corrupt.
+              //
+              // In both cases, we have to give up and inform the caller
+              // they have no JSON.
+              return false;
+            }
+          } else {
+            if (natural_utf8) {
+              // utf8 points to past all utf-8 bytes parsed
+              text.append(s + i, static_cast<size_t>(utf8 - s - i));
+            } else if (ucc <= 0xFFFF) {
+              // Parses as Unicode within JSON's \uXXXX range, so use that.
+              text += "\\u";
+              text += IntToStringHex(ucc, 4);
+            } else if (ucc <= 0x10FFFF) {
+              // Encode Unicode SMP values to a surrogate pair using two \u
+              // escapes.
+              uint32_t base = ucc - 0x10000;
+              auto high_surrogate = (base >> 10) + 0xD800;
+              auto low_surrogate = (base & 0x03FF) + 0xDC00;
+              text += "\\u";
+              text += IntToStringHex(high_surrogate, 4);
+              text += "\\u";
+              text += IntToStringHex(low_surrogate, 4);
+            }
+            // Skip past characters recognized.
+            i = static_cast<uoffset_t>(utf8 - s - 1);
+          }
+        }
+        break;
+    }
+  }
+  text += "\"";
+  return true;
+}
+
+// Remove paired quotes in a string: "text"|'text' -> text.
+std::string RemoveStringQuotes(const std::string &s);
+
+// Change th global C-locale to locale with name <locale_name>.
+// Returns an actual locale name in <_value>, useful if locale_name is "" or
+// null.
+bool SetGlobalTestLocale(const char *locale_name,
+                         std::string *_value = nullptr);
+
+// Read (or test) a value of environment variable.
+bool ReadEnvironmentVariable(const char *var_name,
+                             std::string *_value = nullptr);
+
+}  // namespace flatbuffers
+
+#endif  // FLATBUFFERS_UTIL_H_