controller_driver.h

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#pragma once
 
#include "bcnp/dispatcher.h"
#include "bcnp/transport/adapter.h"
 
#include <vector>
 
namespace bcnp {
 
class DispatcherDriver {
public:
    DispatcherDriver(PacketDispatcher& dispatcher, DuplexAdapter& adapter);
 
    void PollOnce();
 
    bool SendBytes(const uint8_t* data, std::size_t length);
 
    template<typename MsgType>
    bool SendPacket(const TypedPacket<MsgType>& packet) {
        std::vector<uint8_t> buffer;
        if (!EncodeTypedPacket(packet, buffer)) {
            return false;
        }
        return m_adapter.SendBytes(buffer.data(), buffer.size());
    }
 
private:
    PacketDispatcher& m_dispatcher;
    DuplexAdapter& m_adapter;
    std::vector<uint8_t> m_rxScratch;
};
 
using ControllerDriver = DispatcherDriver;
 
} // namespace bcnp