bcnp::PacketDispatcher Class Reference

Parses BCNP stream and dispatches packets to registered handlers. More...

#include <dispatcher.h>

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

Public Member Functions
	PacketDispatcher (DispatcherConfig config={})
	Construct a dispatcher with the given configuration.
void	PushBytes (const uint8_t *data, std::size_t length)
	Feed raw bytes from transport (thread-safe)
template<typename MsgType >
void	RegisterHandler (PacketHandler handler)
	Register a handler for a message type (by type)
void	RegisterHandler (MessageTypeId typeId, PacketHandler handler)
	Register a handler for a message type (by ID)
void	UnregisterHandler (MessageTypeId typeId)
	Remove a handler.
void	SetErrorHandler (ErrorHandler handler)
	Set error callback.
bool	IsConnected (Clock::time_point now) const
	Check if any packets received recently.
Clock::time_point	LastReceiveTime () const
	Get last receive time.
StreamParser &	Parser ()
	Access the parser (for diagnostics)
const StreamParser &	Parser () const
void	SetWireSizeLookup (StreamParser::WireSizeLookup lookup)
	Set wire size lookup for custom message types (for testing)
template<typename... MsgTypes>
void	RegisterMessageTypes ()
	Convenience: set wire size lookup from a list of message types.
uint64_t	ParseErrorCount () const
	Get parse error count.

Detailed Description

Parses BCNP stream and dispatches packets to registered handlers.

PacketDispatcher doesn't own any queues. Robot code creates queues per subsystem and registers handlers to fill them.

PacketDispatcher dispatcher;
MessageQueue<MyMotorCmd> motorQueue;
MessageQueue<MyServoCmd> servoQueue;
 
dispatcher.RegisterHandler<MyMotorCmd>([&](const PacketView& pkt) {
    for (auto it = pkt.begin_as<MyMotorCmd>(); it != pkt.end_as<MyMotorCmd>(); ++it) {
        motorQueue.Push(*it);
    }
    motorQueue.NotifyReceived(Clock::now());
});
 
dispatcher.RegisterHandler<MyServoCmd>([&](const PacketView& pkt) {
    // Handle servo commands...
});

Definition at line 49 of file dispatcher.h.

Member Typedef Documentation

Clock

using bcnp::PacketDispatcher::Clock = std::chrono::steady_clock

Definition at line 51 of file dispatcher.h.

Constructor & Destructor Documentation

PacketDispatcher()

bcnp::PacketDispatcher::PacketDispatcher ( DispatcherConfig config = {} )

explicit

Construct a dispatcher with the given configuration.

Creates internal StreamParser with callbacks wired to HandlePacket/HandleError.

Parameters

config

Dispatcher configuration (buffer size, timeouts)

Definition at line 20 of file dispatcher.cpp.

Member Function Documentation

IsConnected()

bool bcnp::PacketDispatcher::IsConnected

(

Clock::time_point

now

)

const

Check if any packets received recently.

Check if the connection is active.

Returns true if a packet was received within the configured timeout period.

Parameters

now	Current time point for comparison

Returns

true if recently received packets, false if timed out

Definition at line 78 of file dispatcher.cpp.

LastReceiveTime()

PacketDispatcher::Clock::time_point bcnp::PacketDispatcher::LastReceiveTime

(

)

const

Get last receive time.

Get the timestamp of the last received packet.

Returns

Time point of last successful packet reception

Definition at line 90 of file dispatcher.cpp.

ParseErrorCount()

uint64_t bcnp::PacketDispatcher::ParseErrorCount

(

)

const

Get parse error count.

Get the total number of parse errors encountered.

Returns

Cumulative count of parse errors since creation

Definition at line 99 of file dispatcher.cpp.

Parser() [1/2]

StreamParser & bcnp::PacketDispatcher::Parser ( )

inline

Access the parser (for diagnostics)

Definition at line 80 of file dispatcher.h.

Parser() [2/2]

const StreamParser & bcnp::PacketDispatcher::Parser ( ) const

inline

Definition at line 81 of file dispatcher.h.

PushBytes()

void bcnp::PacketDispatcher::PushBytes	(	const uint8_t *	data,
		std::size_t	length )

Feed raw bytes from transport (thread-safe)

Push raw bytes for parsing and dispatch.

Thread-safe: acquires mutex before accessing parser. Parsed packets are dispatched to registered handlers synchronously.

Parameters

data	Pointer to incoming byte data
length	Number of bytes to process

Definition at line 36 of file dispatcher.cpp.

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RegisterHandler() [1/2]

void bcnp::PacketDispatcher::RegisterHandler	(	MessageTypeId	typeId,
		PacketHandler	handler )

Register a handler for a message type (by ID)

Register a handler for a specific message type.

Parameters

typeId	Message type ID to handle
handler	Callback to invoke when packets of this type arrive

Definition at line 47 of file dispatcher.cpp.

RegisterHandler() [2/2]

template<typename MsgType >

void bcnp::PacketDispatcher::RegisterHandler ( PacketHandler handler )

inline

Register a handler for a message type (by type)

Definition at line 60 of file dispatcher.h.

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RegisterMessageTypes()

template<typename... MsgTypes>

void bcnp::PacketDispatcher::RegisterMessageTypes ( )

inline

Convenience: set wire size lookup from a list of message types.

Definition at line 90 of file dispatcher.h.

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SetErrorHandler()

void bcnp::PacketDispatcher::SetErrorHandler

(

ErrorHandler

handler

)

Set error callback.

Set the error callback for parse failures.

Parameters

handler

Callback to invoke on stream parsing errors

Definition at line 65 of file dispatcher.cpp.

SetWireSizeLookup()

void bcnp::PacketDispatcher::SetWireSizeLookup ( StreamParser::WireSizeLookup lookup )

inline

Set wire size lookup for custom message types (for testing)

Definition at line 84 of file dispatcher.h.

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UnregisterHandler()

void bcnp::PacketDispatcher::UnregisterHandler

(

MessageTypeId

typeId

)

Remove a handler.

Remove a previously registered handler.

Parameters

typeId

Message type ID to stop handling

Definition at line 56 of file dispatcher.cpp.

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

• bcnp/dispatcher.h
• bcnp/dispatcher.cpp