bcnp::TelemetryAccumulator< MsgType, Storage > Class Template Reference

Accumulates high-frequency telemetry data and batches into packets. More...

#include <telemetry_accumulator.h>

Classes
struct	Metrics
	Metrics for diagnostics. More...

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

Public Member Functions
	TelemetryAccumulator (TelemetryAccumulatorConfig config={})
bool	Record (const MsgType &msg)
	Record a telemetry reading.
template<typename InputIt >
void	RecordBatch (InputIt first, InputIt last)
	Record multiple telemetry readings at once.
template<typename Adapter >
bool	MaybeFlush (Adapter &adapter)
	Flush if interval has elapsed.
template<typename Adapter >
bool	ForceFlush (Adapter &adapter)
	Force an immediate flush regardless of interval.
std::size_t	BufferedCount () const
	Get the number of buffered messages waiting to be sent.
void	Clear ()
	Clear all buffered messages without sending.
Metrics	GetMetrics () const
void	ResetMetrics ()
void	SetConfig (const TelemetryAccumulatorConfig &config)
	Update configuration.

Detailed Description

template<typename MsgType, typename Storage = StaticVector<MsgType, 64>>
class bcnp::TelemetryAccumulator< MsgType, Storage >

Accumulates high-frequency telemetry data and batches into packets.

The accumulator collects sensor/state readings during the control loop and sends them as batched BCNP packets at a configurable rate. This avoids the overhead of a send() syscall per reading.

Template Parameters

MsgType	The message struct type (e.g., DrivetrainState, EncoderData)
Storage	Container type (default: StaticVector<MsgType, 64>)

Usage (robot side):

TelemetryAccumulator<DrivetrainState> drivetrainTelem;
 
// In TeleopPeriodic (50Hz):
drivetrainTelem.Record(DrivetrainState{
    .vxActual = drivetrain.GetVelocity(),
    .omegaActual = drivetrain.GetAngularVelocity(),
    .leftPos = drivetrain.GetLeftEncoder(),
    .rightPos = drivetrain.GetRightEncoder(),
    .timestampMs = static_cast<uint32_t>(Timer::GetFPGATimestamp() * 1000)
});
 
// At end of Periodic:
drivetrainTelem.MaybeFlush(tcpAdapter);  // Sends every N ticks

Definition at line 55 of file telemetry_accumulator.h.

Member Typedef Documentation

Clock

template<typename MsgType , typename Storage = StaticVector<MsgType, 64>>

using bcnp::TelemetryAccumulator< MsgType, Storage >::Clock = std::chrono::steady_clock

Definition at line 57 of file telemetry_accumulator.h.

Constructor & Destructor Documentation

TelemetryAccumulator()

template<typename MsgType , typename Storage = StaticVector<MsgType, 64>>

bcnp::TelemetryAccumulator< MsgType, Storage >::TelemetryAccumulator ( TelemetryAccumulatorConfig config = {} )

inlineexplicit

Definition at line 59 of file telemetry_accumulator.h.

Member Function Documentation

BufferedCount()

template<typename MsgType , typename Storage = StaticVector<MsgType, 64>>

std::size_t bcnp::TelemetryAccumulator< MsgType, Storage >::BufferedCount ( ) const

inline

Get the number of buffered messages waiting to be sent.

Definition at line 172 of file telemetry_accumulator.h.

Clear()

template<typename MsgType , typename Storage = StaticVector<MsgType, 64>>

void bcnp::TelemetryAccumulator< MsgType, Storage >::Clear ( )

inline

Clear all buffered messages without sending.

Definition at line 180 of file telemetry_accumulator.h.

ForceFlush()

template<typename MsgType , typename Storage = StaticVector<MsgType, 64>>

template<typename Adapter >

bool bcnp::TelemetryAccumulator< MsgType, Storage >::ForceFlush ( Adapter & adapter )

inline

Force an immediate flush regardless of interval.

Parameters

adapter

The transport adapter to send through

Returns

true if a packet was sent, false if buffer was empty

Definition at line 147 of file telemetry_accumulator.h.

GetMetrics()

template<typename MsgType , typename Storage = StaticVector<MsgType, 64>>

Metrics bcnp::TelemetryAccumulator< MsgType, Storage >::GetMetrics ( ) const

inline

Definition at line 197 of file telemetry_accumulator.h.

MaybeFlush()

template<typename MsgType , typename Storage = StaticVector<MsgType, 64>>

template<typename Adapter >

bool bcnp::TelemetryAccumulator< MsgType, Storage >::MaybeFlush ( Adapter & adapter )

inline

Flush if interval has elapsed.

Call this at the end of each control loop iteration.

Parameters

adapter

The transport adapter to send through (must have SendBytes)

Returns

true if a packet was sent, false if interval not yet elapsed or buffer empty

Definition at line 112 of file telemetry_accumulator.h.

Record()

template<typename MsgType , typename Storage = StaticVector<MsgType, 64>>

bool bcnp::TelemetryAccumulator< MsgType, Storage >::Record ( const MsgType & msg )

inline

Record a telemetry reading.

Call this for each sensor/state update during the control loop. If the buffer is full, the oldest reading is discarded (ring behavior via clear+re-add).

Parameters

msg	The telemetry message to record

Returns

true if recorded successfully, false if buffer was full (still recorded, but overwrote)

Definition at line 71 of file telemetry_accumulator.h.

RecordBatch()

template<typename MsgType , typename Storage = StaticVector<MsgType, 64>>

template<typename InputIt >

void bcnp::TelemetryAccumulator< MsgType, Storage >::RecordBatch ( InputIt first, InputIt last )

inline

Record multiple telemetry readings at once.

Useful for batching multiple encoder readings in a single call.

Definition at line 91 of file telemetry_accumulator.h.

ResetMetrics()

template<typename MsgType , typename Storage = StaticVector<MsgType, 64>>

void bcnp::TelemetryAccumulator< MsgType, Storage >::ResetMetrics ( )

inline

Definition at line 202 of file telemetry_accumulator.h.

SetConfig()

template<typename MsgType , typename Storage = StaticVector<MsgType, 64>>

void bcnp::TelemetryAccumulator< MsgType, Storage >::SetConfig ( const TelemetryAccumulatorConfig & config )

inline

Update configuration.

Definition at line 210 of file telemetry_accumulator.h.

---

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

• bcnp/telemetry_accumulator.h