commrat::CommandDispatcher< ModuleType, CommandTypes > Class Template Reference

Command dispatcher mixin. More...

#include <commrat/module/lifecycle/command_dispatcher.hpp>

Inheritance diagram for commrat::CommandDispatcher< ModuleType, CommandTypes >:

Protected Member Functions
void	command_loop ()
	Command loop - receives and dispatches user commands.
template<typename CmdT >
void	handle_user_command (const CmdT &cmd)
	Dispatch user command to on_command handler.
template<typename CmdT >
void	on_command (const CmdT &cmd)
	Handle a specific command type (override in derived class)

Detailed Description

template<typename ModuleType, typename... CommandTypes>
class commrat::CommandDispatcher< ModuleType, CommandTypes >

Command dispatcher mixin.

Provides command_loop() and handle_user_command() for modules that accept user commands via the CMD mailbox.

Template Parameters

ModuleType	The derived Module class (CRTP)
CommandTypes	Variadic pack of command payload types

Definition at line 26 of file command_dispatcher.hpp.

Member Function Documentation

command_loop()

template<typename ModuleType , typename... CommandTypes>

void commrat::CommandDispatcher< ModuleType, CommandTypes >::command_loop ( )

inlineprotected

Command loop - receives and dispatches user commands.

Runs in a dedicated thread, blocking on CMD mailbox receives. Routes commands to on_command() handlers based on payload type.

Definition at line 34 of file command_dispatcher.hpp.

handle_user_command()

template<typename ModuleType , typename... CommandTypes>

template<typename CmdT >

void commrat::CommandDispatcher< ModuleType, CommandTypes >::handle_user_command ( const CmdT &  cmd )

inlineprotected

Dispatch user command to on_command handler.

Template Parameters

CmdT	Command payload type

Parameters

cmd	Command payload

Definition at line 66 of file command_dispatcher.hpp.

on_command()

template<typename ModuleType , typename... CommandTypes>

template<typename CmdT >

void commrat::CommandDispatcher< ModuleType, CommandTypes >::on_command ( const CmdT &  cmd )

inlineprotected

Handle a specific command type (override in derived class)

Default implementation does nothing. Derived classes should provide overloads for each command type they support:

void on_command(const ResetCmd& cmd) override { ... } void on_command(const CalibrateCmd& cmd) override { ... }

Template Parameters

CmdT	Command payload type

Parameters

cmd	Command payload

Definition at line 89 of file command_dispatcher.hpp.

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

• commrat/module/lifecycle/command_dispatcher.hpp