Namespaces
namespace	detail
	Type traits to detect container capabilities for packet storage.

Classes
class	ByteStream
	Interface for receiving raw bytes from a transport. More...

class	ByteWriter
	Interface for sending raw bytes over a transport. More...

class	CommandQueue
	Legacy CommandQueue - use MessageQueue<DriveCmd> for new code. More...

struct	DecodeViewResult
	Result of decoding a packet from raw bytes. More...

struct	DispatcherConfig
	Configuration for the packet dispatcher. More...

class	DispatcherDriver
	Drives a PacketDispatcher from a transport adapter. More...

class	DuplexAdapter
	Combined send/receive interface for bidirectional transports. More...

struct	HasDurationMs
	Type trait to detect messages with a durationMs field. More...

struct	IsValidPacketStorage
	Concept-like check for valid packet storage containers. More...

struct	MessageInfo

class	MessageIterator
	Forward iterator for zero-copy message access from packet payload. More...

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

struct	MessageQueueConfig
	Configuration parameters for a message queue. More...

struct	MessageQueueMetrics
	Runtime metrics for queue diagnostics. More...

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

struct	PacketHeader
	Parsed packet header structure. More...

struct	PacketView
	Zero-copy view into a decoded packet buffer. More...

class	SpiStreamAdapter
	SPI transport adapter for legacy SPI-based communication. More...

class	StaticVector
	Fixed-capacity vector with no heap allocation. More...

class	StreamParser
	Parses a byte stream into BCNP packets. More...

class	TcpPosixAdapter
	TCP transport adapter for BCNP over POSIX sockets. More...

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

struct	TelemetryAccumulatorConfig
	Configuration for telemetry accumulator. More...

struct	TypedPacket
	Generic packet containing messages of a specific type. More...

class	UdpPosixAdapter
	UDP transport adapter for BCNP over POSIX sockets. More...

Typedefs
using	QueueConfig = MessageQueueConfig

using	QueueMetrics = MessageQueueMetrics

using	Command = DriveCmd

using	PacketHandler = std::function<void(const PacketView&)>
	Callback for handling message packets.

using	ErrorHandler = std::function<void(const StreamParser::ErrorInfo&)>
	Error callback for parse errors.

using	MessageHandler = PacketHandler

template<typename MsgType >
using	TimedQueue = MessageQueue<MsgType>
	Convenience alias for MessageQueue (backward compatibility).

template<typename MsgType , std::size_t Capacity = 64>
using	StaticTypedPacket = TypedPacket<MsgType, StaticVector<MsgType, Capacity>>
	Convenience alias for stack-allocated real-time packets (default 64 messages)

template<typename MsgType >
using	DynamicTypedPacket = TypedPacket<MsgType, std::vector<MsgType>>
	Convenience alias for heap-allocated packets (backward compatible).

template<typename T >
using	DynamicPacketStorage = std::vector<T>
	Default packet storage using heap allocation.

template<typename T , std::size_t Capacity = 64>
using	StaticPacketStorage = StaticVector<T, Capacity>
	Real-time packet storage using stack allocation.

template<typename T >
using	DefaultRealtimeStorage = StaticPacketStorage<T, 64>
	Alias for the recommended real-time default (64 messages).

template<typename MsgType >
using	DynamicTelemetryAccumulator = TelemetryAccumulator<MsgType, std::vector<MsgType>>
	Convenience alias for heap-allocated accumulator (large batches).

template<typename MsgType , std::size_t Capacity = 64>
using	StaticTelemetryAccumulator = TelemetryAccumulator<MsgType, StaticVector<MsgType, Capacity>>
	Convenience alias for stack-allocated accumulator (real-time, default).

using	ControllerDriver = DispatcherDriver
	Backward-compatible alias (prefer DispatcherDriver for new code).

Enumerations
enum class	PacketError { None , TooSmall , UnsupportedVersion , TooManyMessages , TooManyCommands = TooManyMessages , Truncated , InvalidFloat , ChecksumMismatch , UnknownMessageType , HandshakeRequired , SchemaMismatch }
	Error codes returned by packet decoding operations. More...

enum class	MessageTypeId : uint16_t { Unknown = 0 }

Functions
uint32_t	ComputeCrc32 (const uint8_t *data, std::size_t length)
	Compute CRC32 checksum for data integrity verification.

DecodeViewResult	DecodePacketViewWithSize (const uint8_t *data, std::size_t length, std::size_t wireSize)
	Decode a packet with explicitly provided message wire size.

DecodeViewResult	DecodePacketView (const uint8_t *data, std::size_t length)
	Decode a packet using the global message type registry.

template<typename MsgType , typename Storage >
bool	EncodeTypedPacket (const TypedPacket< MsgType, Storage > &packet, uint8_t *output, std::size_t capacity, std::size_t &bytesWritten)
	Encode a typed packet to a pre-allocated buffer.

template<typename MsgType , typename Storage >
bool	EncodeTypedPacket (const TypedPacket< MsgType, Storage > &packet, std::vector< uint8_t > &output)
	Encode a typed packet to a dynamically-sized vector.

template<typename MsgType >
std::optional< TypedPacket< MsgType > >	DecodeTypedPacket (const PacketView &view)
	Decode messages from a PacketView into a typed packet.

template<typename MsgType , typename Storage >
std::optional< TypedPacket< MsgType, Storage > >	DecodeTypedPacketAs (const PacketView &view)
	Decode messages from a PacketView with custom storage type.

template<typename MsgType >
DecodeViewResult	DecodePacketViewAs (const uint8_t *data, std::size_t length)
	Type-safe packet view decode using compile-time message type.

template<typename Container >
void	ReserveIfPossible (Container &container, std::size_t capacity)
	Helper to reserve capacity (no-op for static storage).

std::optional< MessageInfo >	GetMessageInfo (MessageTypeId typeId)

std::optional< MessageInfo >	GetMessageInfo (uint16_t typeId)

bool	EncodeHandshake (uint8_t *out, std::size_t capacity)
	Encode handshake with default schema hash.

bool	EncodeHandshakeWithHash (uint8_t *out, std::size_t capacity, uint32_t schemaHash)
	Encode handshake with custom schema hash (for testing)

bool	ValidateHandshake (const uint8_t *data, std::size_t length)

bool	ValidateHandshakeWithHash (const uint8_t *data, std::size_t length, uint32_t expectedHash)
	Validate handshake against custom expected hash (for testing)

uint32_t	ExtractSchemaHash (const uint8_t *data, std::size_t length)

Variables
constexpr std::size_t	kChecksumSize = 4
	Size of CRC32 checksum in bytes.

constexpr std::size_t	kMaxMessagesPerPacket = 65535
	Maximum number of messages allowed in a single packet.

constexpr uint8_t	kFlagClearQueue = 0x01
	Packet flag: Clear command queue before processing this packet.

constexpr uint8_t	kProtocolMajor = kProtocolMajorV3
	Current protocol major version.

constexpr uint8_t	kProtocolMinor = kProtocolMinorV3
	Current protocol minor version.

constexpr std::size_t	kHeaderSize = kHeaderSizeV3
	Size of packet header in bytes.

constexpr std::size_t	kHeaderMajorIndex = 0
	Byte offset of major version in header.

constexpr std::size_t	kHeaderMinorIndex = 1
	Byte offset of minor version in header.

constexpr std::size_t	kHeaderFlagsIndex = 2
	Byte offset of flags byte in header.

template<typename Container >
constexpr bool	IsValidPacketStorage_v = IsValidPacketStorage<Container>::value

constexpr uint8_t	kProtocolMajorV3 = 3

constexpr uint8_t	kProtocolMinorV3 = 2

constexpr uint32_t	kSchemaHash = 0x5667F881U

constexpr std::size_t	kHandshakeSize = 8

constexpr std::array< uint8_t, 4 >	kHandshakeMagic = {{'B', 'C', 'N', 'P'}}

constexpr std::size_t	kHeaderSizeV3 = 7

constexpr std::size_t	kHeaderMsgTypeIndex = 3

constexpr std::size_t	kHeaderMsgCountIndex = 5

constexpr std::array< MessageInfo, 0 >	kMessageRegistry = {{}}

Typedef Documentation

◆ Command

using bcnp::Command = DriveCmd

Definition at line 13 of file command_queue.h.

◆ ControllerDriver

using bcnp::ControllerDriver = DispatcherDriver

Backward-compatible alias (prefer DispatcherDriver for new code).

Definition at line 52 of file controller_driver.h.

◆ DefaultRealtimeStorage

template<typename T >

using bcnp::DefaultRealtimeStorage = StaticPacketStorage<T, 64>

Alias for the recommended real-time default (64 messages).

Definition at line 114 of file packet_storage.h.

◆ DynamicPacketStorage

template<typename T >

using bcnp::DynamicPacketStorage = std::vector<T>

Default packet storage using heap allocation.

Use for Large batches, trajectory uploads or config dumps.

Definition at line 96 of file packet_storage.h.

◆ DynamicTelemetryAccumulator

template<typename MsgType >

using bcnp::DynamicTelemetryAccumulator = TelemetryAccumulator<MsgType, std::vector<MsgType>>

Convenience alias for heap-allocated accumulator (large batches).

Definition at line 276 of file telemetry_accumulator.h.

◆ DynamicTypedPacket

template<typename MsgType >

using bcnp::DynamicTypedPacket = TypedPacket<MsgType, std::vector<MsgType>>

Convenience alias for heap-allocated packets (backward compatible).

Definition at line 260 of file packet.h.

◆ ErrorHandler

using bcnp::ErrorHandler = std::function<void(const StreamParser::ErrorInfo&)>

Error callback for parse errors.

Definition at line 24 of file dispatcher.h.

◆ MessageHandler

using bcnp::MessageHandler = PacketHandler

Definition at line 124 of file dispatcher.h.

◆ PacketHandler

using bcnp::PacketHandler = std::function<void(const PacketView&)>

Callback for handling message packets.

Definition at line 21 of file dispatcher.h.

◆ QueueConfig

using bcnp::QueueConfig = MessageQueueConfig

Definition at line 11 of file command_queue.h.

◆ QueueMetrics

using bcnp::QueueMetrics = MessageQueueMetrics

Definition at line 12 of file command_queue.h.

◆ StaticPacketStorage

template<typename T , std::size_t Capacity = 64>

using bcnp::StaticPacketStorage = StaticVector<T, Capacity>

Real-time packet storage using stack allocation.

Use for Control loop telemetry or command batches.

Default capacity of 64 covers most FRC use cases: 64 × 12 bytes (EncoderData) = 768 bytes (safe for stack) 64 × 32 bytes (TrajectoryPoint) = 2 KB (safe for stack)

Definition at line 108 of file packet_storage.h.

◆ StaticTelemetryAccumulator

template<typename MsgType , std::size_t Capacity = 64>

using bcnp::StaticTelemetryAccumulator = TelemetryAccumulator<MsgType, StaticVector<MsgType, Capacity>>

Convenience alias for stack-allocated accumulator (real-time, default).

Definition at line 282 of file telemetry_accumulator.h.

◆ StaticTypedPacket

template<typename MsgType , std::size_t Capacity = 64>

using bcnp::StaticTypedPacket = TypedPacket<MsgType, StaticVector<MsgType, Capacity>>

Convenience alias for stack-allocated real-time packets (default 64 messages)

Definition at line 256 of file packet.h.

◆ TimedQueue

template<typename MsgType >

using bcnp::TimedQueue = MessageQueue<MsgType>

Convenience alias for MessageQueue (backward compatibility).

Template Parameters

MsgType Message type with durationMs field

Definition at line 408 of file message_queue.h.

Enumeration Type Documentation

◆ MessageTypeId

enum class bcnp::MessageTypeId : uint16_t

strong

Enumerator
Unknown

Definition at line 39 of file message_types.h.

◆ PacketError

enum class bcnp::PacketError

strong

Error codes returned by packet decoding operations.

These errors indicate various failure modes during packet parsing, from simple size issues to protocol mismatches and data corruption.

Enumerator
None	No error - packet decoded successfully.
TooSmall	Buffer too small to contain header.
UnsupportedVersion	Protocol version mismatch.
TooManyMessages	Message count exceeds kMaxMessagesPerPacket.
TooManyCommands	Deprecated Legacy alias for TooManyMessages
Truncated	Buffer ends before expected packet length.
InvalidFloat	NaN or Inf detected in float field.
ChecksumMismatch	CRC32 validation failed.
UnknownMessageType	Message type ID not in registry.
HandshakeRequired	Connection requires handshake first.
SchemaMismatch	Client/server schema hash mismatch.

Definition at line 268 of file packet.h.

Function Documentation

◆ ComputeCrc32()

uint32_t bcnp::ComputeCrc32	(	const uint8_t *	data,
		std::size_t	length )

Compute CRC32 checksum for data integrity verification.

Uses the standard CRC32 polynomial (0xEDB88320) with initial value of 0xFFFFFFFF and final XOR. Compatible with common CRC32 implementations.

Parameters

data	Pointer to data buffer
length	Number of bytes to checksum

Returns: 32-bit CRC checksum

Definition at line 49 of file packet.cpp.

Here is the caller graph for this function:

◆ DecodePacketView()

DecodeViewResult bcnp::DecodePacketView	(	const uint8_t *	data,
		std::size_t	length )

Decode a packet using the global message type registry.

Decode packet view using the global message type registry.

Extracts the message type ID from the header and looks up the wire size from GetMessageInfo(). Returns UnknownMessageType error if the type is not registered.

Parameters

data	Pointer to raw packet bytes
length	Available bytes in buffer

Returns: DecodeViewResult with validation status and optional view

Looks up the wire size from GetMessageInfo() based on the message type ID in the packet header. Use this for general-purpose packet handling.

Parameters

data	Raw packet bytes
length	Number of bytes available

Returns: DecodeViewResult with view and error status

Definition at line 143 of file packet.cpp.

Here is the call graph for this function:

◆ DecodePacketViewAs()

template<typename MsgType >

DecodeViewResult bcnp::DecodePacketViewAs	(	const uint8_t *	data,
		std::size_t	length )

Type-safe packet view decode using compile-time message type.

Template version that uses MsgType::kWireSize directly, avoiding runtime registry lookup. Preferred when the expected type is known.

Template Parameters

MsgType Expected message type with kWireSize constant

Parameters

data	Raw packet bytes
length	Number of bytes available

Returns: DecodeViewResult with view and error status

Definition at line 490 of file packet.h.

Here is the call graph for this function:

◆ DecodePacketViewWithSize()

DecodeViewResult bcnp::DecodePacketViewWithSize	(	const uint8_t *	data,
		std::size_t	length,
		std::size_t	wireSize )

Decode a packet with explicitly provided message wire size.

Decode packet view with explicit wire size.

This is the core decoding function used by all other decode variants. Validates the header, checks CRC, and constructs a PacketView on success.

Parameters

data	Pointer to raw packet bytes
length	Available bytes in buffer
wireSize	Size of each message in bytes (from schema or lookup)

Returns: DecodeViewResult with validation status and optional view

Low-level decode function used when the message wire size is known (e.g., from a custom lookup table or test fixture).

Parameters

data	Raw packet bytes
length	Number of bytes available
wireSize	Size of each message in bytes

Returns: DecodeViewResult with view and error status

Definition at line 76 of file packet.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ DecodeTypedPacket()

template<typename MsgType >

std::optional< TypedPacket< MsgType > > bcnp::DecodeTypedPacket ( const PacketView & view )

Decode messages from a PacketView into a typed packet.

Converts a validated PacketView into a TypedPacket with heap-allocated storage. Returns nullopt if the view's message type doesn't match MsgType.

Template Parameters

MsgType Expected message type

Parameters

view	Validated packet view to decode from

Returns: TypedPacket containing decoded messages, or nullopt on type mismatch

Definition at line 397 of file packet.h.

◆ DecodeTypedPacketAs()

template<typename MsgType , typename Storage >

std::optional< TypedPacket< MsgType, Storage > > bcnp::DecodeTypedPacketAs ( const PacketView & view )

Decode messages from a PacketView with custom storage type.

Allows decoding into stack-allocated or custom storage for real-time applications. Use StaticVector<MsgType, N> for deterministic memory usage.

Template Parameters

MsgType	Expected message type
Storage	Container type (e.g., StaticVector<MsgType, 64>)

Parameters

view	Validated packet view to decode from

Returns: TypedPacket with specified storage, or nullopt on type mismatch/decode failure

Definition at line 431 of file packet.h.

Here is the call graph for this function:

◆ EncodeHandshake()

bool bcnp::EncodeHandshake	(	uint8_t *	out,
		std::size_t	capacity )

inline

Encode handshake with default schema hash.

Definition at line 135 of file message_types.h.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ EncodeHandshakeWithHash()

bool bcnp::EncodeHandshakeWithHash	(	uint8_t *	out,
		std::size_t	capacity,
		uint32_t	schemaHash )

inline

Encode handshake with custom schema hash (for testing)

Definition at line 143 of file message_types.h.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ EncodeTypedPacket() [1/2]

template<typename MsgType , typename Storage >

bool bcnp::EncodeTypedPacket	(	const TypedPacket< MsgType, Storage > &	packet,
		std::vector< uint8_t > &	output )

Encode a typed packet to a dynamically-sized vector.

Convenience overload that allocates the required buffer automatically. Suitable for non-real-time code paths where allocation is acceptable.

Template Parameters

MsgType	Message struct type with Encode() and kWireSize
Storage	Container type holding the messages

Parameters

	packet	The packet to encode
[out]	output	Vector to receive encoded bytes (resized automatically)

Returns: true if encoding succeeded, false on encoding failure

Definition at line 372 of file packet.h.

Here is the call graph for this function:

◆ EncodeTypedPacket() [2/2]

template<typename MsgType , typename Storage >

bool bcnp::EncodeTypedPacket	(	const TypedPacket< MsgType, Storage > &	packet,
		uint8_t *	output,
		std::size_t	capacity,
		std::size_t &	bytesWritten )

Encode a typed packet to a pre-allocated buffer.

Serializes the packet header and all messages to wire format, appending a CRC32 checksum. Works with any storage type (vector, StaticVector, etc.).

Template Parameters

MsgType	Message struct type with Encode() and kWireSize
Storage	Container type holding the messages

Parameters

	packet	The packet to encode
	output	Destination buffer (must have sufficient capacity)
	capacity	Size of output buffer in bytes
[out]	bytesWritten	Number of bytes written on success

Returns: true if encoding succeeded, false if capacity insufficient or encoding failed

Definition at line 322 of file packet.h.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ExtractSchemaHash()

uint32_t bcnp::ExtractSchemaHash	(	const uint8_t *	data,
		std::size_t	length )

inline

Definition at line 165 of file message_types.h.

Here is the call graph for this function:

◆ GetMessageInfo() [1/2]

std::optional< MessageInfo > bcnp::GetMessageInfo ( MessageTypeId typeId )

inline

Definition at line 119 of file message_types.h.

Here is the caller graph for this function:

◆ GetMessageInfo() [2/2]

std::optional< MessageInfo > bcnp::GetMessageInfo ( uint16_t typeId )

inline

Definition at line 126 of file message_types.h.

Here is the call graph for this function:

◆ ReserveIfPossible()

template<typename Container >

void bcnp::ReserveIfPossible	(	Container &	container,
		std::size_t	capacity )

Helper to reserve capacity (no-op for static storage).

This allows generic code to call reserve() without knowing storage type.

Definition at line 122 of file packet_storage.h.

Here is the caller graph for this function:

◆ ValidateHandshake()

bool bcnp::ValidateHandshake	(	const uint8_t *	data,
		std::size_t	length )

inline

Definition at line 150 of file message_types.h.

Here is the call graph for this function:

◆ ValidateHandshakeWithHash()

bool bcnp::ValidateHandshakeWithHash	(	const uint8_t *	data,
		std::size_t	length,
		uint32_t	expectedHash )

inline

Validate handshake against custom expected hash (for testing)

Definition at line 158 of file message_types.h.

Here is the call graph for this function:

Variable Documentation

◆ IsValidPacketStorage_v

template<typename Container >

bool bcnp::IsValidPacketStorage_v = IsValidPacketStorage<Container>::value

inlineconstexpr

Definition at line 87 of file packet_storage.h.

◆ kHandshakeMagic

std::array<uint8_t, 4> bcnp::kHandshakeMagic = {{'B', 'C', 'N', 'P'}}

constexpr

Definition at line 28 of file message_types.h.

◆ kHandshakeSize

std::size_t bcnp::kHandshakeSize = 8

constexpr

Definition at line 27 of file message_types.h.

◆ kHeaderMsgCountIndex

std::size_t bcnp::kHeaderMsgCountIndex = 5

constexpr

Definition at line 33 of file message_types.h.

◆ kHeaderMsgTypeIndex

std::size_t bcnp::kHeaderMsgTypeIndex = 3

constexpr

Definition at line 32 of file message_types.h.

◆ kHeaderSizeV3

std::size_t bcnp::kHeaderSizeV3 = 7

constexpr

Definition at line 31 of file message_types.h.

◆ kMessageRegistry

std::array<MessageInfo, 0> bcnp::kMessageRegistry = {{}}

inlineconstexpr

Definition at line 117 of file message_types.h.

◆ kProtocolMajorV3

uint8_t bcnp::kProtocolMajorV3 = 3

constexpr

Definition at line 22 of file message_types.h.

◆ kProtocolMinorV3

uint8_t bcnp::kProtocolMinorV3 = 2

constexpr

Definition at line 23 of file message_types.h.

◆ kSchemaHash

uint32_t bcnp::kSchemaHash = 0x5667F881U

constexpr

Definition at line 24 of file message_types.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ Command

◆ ControllerDriver

◆ DefaultRealtimeStorage

◆ DynamicPacketStorage

◆ DynamicTelemetryAccumulator

◆ DynamicTypedPacket

◆ ErrorHandler

◆ MessageHandler

◆ PacketHandler

◆ QueueConfig

◆ QueueMetrics

◆ StaticPacketStorage

◆ StaticTelemetryAccumulator

◆ StaticTypedPacket

◆ TimedQueue

Enumeration Type Documentation

◆ MessageTypeId

◆ PacketError

Function Documentation

◆ ComputeCrc32()

◆ DecodePacketView()

◆ DecodePacketViewAs()

◆ DecodePacketViewWithSize()

◆ DecodeTypedPacket()

◆ DecodeTypedPacketAs()

◆ EncodeHandshake()

◆ EncodeHandshakeWithHash()

◆ EncodeTypedPacket() [1/2]

◆ EncodeTypedPacket() [2/2]

◆ ExtractSchemaHash()

◆ GetMessageInfo() [1/2]

◆ GetMessageInfo() [2/2]

◆ ReserveIfPossible()

◆ ValidateHandshake()

◆ ValidateHandshakeWithHash()

Variable Documentation

◆ IsValidPacketStorage_v

◆ kHandshakeMagic

◆ kHandshakeSize

◆ kHeaderMsgCountIndex

◆ kHeaderMsgTypeIndex

◆ kHeaderSizeV3

◆ kMessageRegistry

◆ kProtocolMajorV3

◆ kProtocolMinorV3

◆ kSchemaHash