bcnp::MessageQueue< MsgType > Class Template Reference

Generic timed message queue for any message type with durationMs field. More...

#include <message_queue.h>

Classes
class	Transaction
	RAII transaction for atomic batch operations. More...

Public Types
using	Clock = std::chrono::steady_clock

Public Member Functions
	MessageQueue (MessageQueueConfig config={})
void	Clear ()
	Remove all messages from the queue.
bool	Push (const MsgType &message)
	Add a message to the back of the queue.
std::size_t	Size () const
	Get the current number of queued messages.
void	NotifyReceived (Clock::time_point now)
	Notify that messages were received from the network.
void	Update (Clock::time_point now)
	Update queue state - call once per control loop iteration.
std::optional< MsgType >	ActiveMessage () const
	Get the currently executing message.
bool	IsConnected (Clock::time_point now) const
	Check if the connection is still active.
MessageQueueMetrics	GetMetrics () const
	Get current queue metrics.
void	ResetMetrics ()
	Reset all metrics to zero.
void	SetConfig (const MessageQueueConfig &config)
	Update queue configuration.
MessageQueueConfig	GetConfig () const
Transaction	BeginTransaction ()

Detailed Description

template<typename MsgType>
class bcnp::MessageQueue< MsgType >

Generic timed message queue for any message type with durationMs field.

This queue manages timed execution of messages, ensuring each message runs for its specified duration before the next one starts. It handles connection timeouts, lag compensation

Template Parameters

MsgType

Message struct with a uint16_t durationMs field

MessageQueue<DriveCmd> driveQueue;
MessageQueue<ElevatorCmd> elevatorQueue;
 
// In network handler:
driveQueue.Push(cmd);
driveQueue.NotifyReceived(now);
 
// In periodic loop:
driveQueue.Update(now);
if (auto cmd = driveQueue.ActiveMessage()) {
    drivetrain.execute(*cmd);
}

Definition at line 84 of file message_queue.h.

Member Typedef Documentation

Clock

template<typename MsgType >

using bcnp::MessageQueue< MsgType >::Clock = std::chrono::steady_clock

Definition at line 89 of file message_queue.h.

Constructor & Destructor Documentation

MessageQueue()

template<typename MsgType >

bcnp::MessageQueue< MsgType >::MessageQueue ( MessageQueueConfig config = {} )

inlineexplicit

Definition at line 91 of file message_queue.h.

Member Function Documentation

ActiveMessage()

template<typename MsgType >

std::optional< MsgType > bcnp::MessageQueue< MsgType >::ActiveMessage ( ) const

inline

Get the currently executing message.

Returns the message whose duration is currently being executed. Blocks briefly if mutex is held by network thread (typically <5µs).

Returns

The active message, or nullopt if none active

Definition at line 200 of file message_queue.h.

BeginTransaction()

template<typename MsgType >

Transaction bcnp::MessageQueue< MsgType >::BeginTransaction ( )

inline

Definition at line 297 of file message_queue.h.

Clear()

template<typename MsgType >

void bcnp::MessageQueue< MsgType >::Clear ( )

inline

Remove all messages from the queue.

Also clears the active message and resets virtual cursor. Thread-safe.

Definition at line 103 of file message_queue.h.

GetConfig()

template<typename MsgType >

MessageQueueConfig bcnp::MessageQueue< MsgType >::GetConfig ( ) const

inline

Definition at line 253 of file message_queue.h.

GetMetrics()

template<typename MsgType >

MessageQueueMetrics bcnp::MessageQueue< MsgType >::GetMetrics ( ) const

inline

Get current queue metrics.

Returns

Snapshot of queue statistics

Definition at line 223 of file message_queue.h.

IsConnected()

template<typename MsgType >

bool bcnp::MessageQueue< MsgType >::IsConnected ( Clock::time_point now ) const

inline

Check if the connection is still active.

Parameters

now	Current timestamp for timeout calculation

Returns

true if packets received within connectionTimeout, false otherwise

Definition at line 214 of file message_queue.h.

NotifyReceived()

template<typename MsgType >

void bcnp::MessageQueue< MsgType >::NotifyReceived ( Clock::time_point now )

inline

Notify that messages were received from the network.

Call this after pushing messages to update the connection timeout. The queue will clear itself if no notifications occur within the configured connectionTimeout period.

Parameters

now	Current timestamp (typically steady_clock::now())

Definition at line 144 of file message_queue.h.

Push()

template<typename MsgType >

bool bcnp::MessageQueue< MsgType >::Push ( const MsgType & message )

inline

Add a message to the back of the queue.

Parameters

message

The message to enqueue

Returns

true if successfully added, false if queue was full

Note

Increments queueOverflows metric on failure.

Definition at line 116 of file message_queue.h.

ResetMetrics()

template<typename MsgType >

void bcnp::MessageQueue< MsgType >::ResetMetrics ( )

inline

Reset all metrics to zero.

Definition at line 231 of file message_queue.h.

SetConfig()

template<typename MsgType >

void bcnp::MessageQueue< MsgType >::SetConfig ( const MessageQueueConfig & config )

inline

Update queue configuration.

Note

Clears the queue if capacity changes.

Parameters

config

New configuration to apply

Definition at line 243 of file message_queue.h.

Size()

template<typename MsgType >

std::size_t bcnp::MessageQueue< MsgType >::Size ( ) const

inline

Get the current number of queued messages.

Returns

Number of messages waiting (excludes active message)

Definition at line 130 of file message_queue.h.

Update()

template<typename MsgType >

void bcnp::MessageQueue< MsgType >::Update ( Clock::time_point now )

inline

Update queue state - call once per control loop iteration.

Performs the following: Checks connection timeout - clears queue if timed out Checks if active message duration has elapsed Promotes next message from queue if ready Handles lag compensation by skipping stale messages

Parameters

now	Current timestamp for timing calculations

Definition at line 160 of file message_queue.h.

---

The documentation for this class was generated from the following file:

• bcnp/message_queue.h