Timestamp Management Architecture. More...

#include <commrat/registry_module.hpp>

Inheritance diagram for commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >:

Public Types
using	OutputData = typename ModuleTypes::OutputData

using	InputData = typename ModuleTypes::InputData

Public Member Functions
	Module (const ModuleConfig &config)

virtual	~Module ()

	Module (const Module &)=delete

Module &	operator= (const Module &)=delete

	Module (Module &&)=delete

Module &	operator= (Module &&)=delete

virtual void	on_init ()

virtual void	on_start ()

virtual void	on_stop ()

virtual void	on_cleanup ()

template<std::size_t Index>
auto &	get_publish_mailbox_public ()
	Get publish mailbox by index (public for Publisher access)

template<std::size_t Index>
auto &	get_cmd_mailbox_public ()
	Get cmd mailbox by index (public for Publisher access) Phase 7: CMD mailbox used for publishing.

void	handle_subscribe_request (const SubscribeRequestPayload &req, std::size_t output_idx=0)

void	handle_subscribe_reply (const SubscribeReplyPayload &reply)

void	handle_unsubscribe_request (const UnsubscribeRequestPayload &req)

void	add_subscriber_to_output (uint32_t subscriber_base_addr, uint8_t mailbox_index, std::size_t output_idx=0)
	Add subscriber to correct output-specific list.

void	remove_subscriber (uint32_t subscriber_base_addr)
	Remove subscriber (for unsubscribe)

Public Member Functions inherited from commrat::MultiOutputManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, OutputTypesTuple< NormalizeOutput< OutputSpec_ >::Type >::type >
std::vector< SubscriberInfo >	get_output_subscribers (std::size_t output_idx) const
	Get subscribers for specific output index.

void	remove_subscriber (uint32_t subscriber_base_addr)
	Remove subscriber from all output lists.

auto &	get_publish_mailbox_public ()
	Get PUBLISH mailbox for specific output index (public accessor)

Public Member Functions inherited from commrat::LoopExecutor< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >
void	periodic_loop ()
	Periodic loop - time-driven data generation.

void	free_loop ()
	Free loop - maximum throughput data generation.

void	continuous_loop ()
	Continuous loop - event-driven single input processing.

void	multi_input_loop ()
	Multi-input loop - synchronized multi-input processing.

Public Member Functions inherited from commrat::InputMetadataAccessors< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >
auto	get_input_metadata () const

auto	get_input_metadata () const

uint64_t	get_input_timestamp () const
	Get input timestamp by index (convenience method)

uint64_t	get_input_timestamp () const
	Get input timestamp by type (convenience method)

bool	has_new_data () const
	Check if input has new data by index.

bool	has_new_data () const
	Check if input has new data by type.

bool	is_input_valid () const
	Check if input is valid by index.

bool	is_input_valid () const
	Check if input is valid by type.

Public Member Functions inherited from commrat::LifecycleManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >
void	start ()
	Start the module.

void	stop ()
	Stop the module.

bool	is_running () const
	Check if module is currently running.

Static Public Attributes
static constexpr bool	has_continuous_input = ModuleTypes::has_continuous_input

static constexpr bool	has_periodic_input = ModuleTypes::has_periodic_input

static constexpr bool	has_loop_input = ModuleTypes::has_loop_input

static constexpr bool	has_multi_output = ModuleTypes::has_multi_output

Protected Types
using	SubscriptionProtocolType = commrat::SubscriptionProtocol< UserRegistry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >

using	PublisherType = commrat::Publisher< UserRegistry, OutputData, PublishMailbox, Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

Protected Member Functions
CmdMailbox &	cmd_mailbox ()

WorkMailbox &	work_mailbox ()

PublishMailbox &	publish_mailbox ()

template<std::size_t Index>
auto &	get_mailbox_set ()

template<std::size_t Index>
auto &	get_publish_mailbox ()

template<std::size_t Index>
auto &	get_work_mailbox ()

template<std::size_t Index>
auto &	get_cmd_mailbox ()

template<std::size_t... Is>
void	initialize_mailbox_infrastructure_impl (const ModuleConfig &config, std::index_sequence< Is... >)

template<typename T = InputData, typename O = OutputData, typename = std::enable_if_t<!std::is_void_v<O> && !is_tuple_v<O>>>
void	process_dispatch (const T &input, O &output)

void	subscribe_to_all_sources ()

void	subscribe_to_source (uint8_t source_system_id, uint8_t source_instance_id)

void	unsubscribe_from_source (uint8_t source_system_id, uint8_t source_instance_id)

void	unsubscribe_from_multi_input_source (const MultiInputConfig::InputSource &source)

template<typename T = OutputData> requires (!std::is_void_v<T>)
void	publish_to_subscribers (T &data)

template<typename T >
void	publish_tims_message (TimsMessage< T > &tims_msg)

template<typename... Ts>
void	publish_multi_outputs (std::tuple< Ts... > &outputs)

template<typename... Ts>
void	publish_multi_outputs_with_timestamp (std::tuple< Ts... > &outputs, uint64_t timestamp_ns)

Protected Member Functions inherited from commrat::ContinuousProcessorBase< ExtractInputPayload< NormalizeInput< InputSpec_ >::Type >::type, ExtractOutputPayload< NormalizeOutput< OutputSpec_ >::Type >::type >
virtual void	process (const ExtractInputPayload< NormalizeInput< InputSpec_ >::Type >::type &input, ExtractOutputPayload< NormalizeOutput< OutputSpec_ >::Type >::type &output)

Protected Member Functions inherited from commrat::MultiOutputManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, OutputTypesTuple< NormalizeOutput< OutputSpec_ >::Type >::type >
Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > &	derived ()

const Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > &	derived () const

void	initialize_output_subscribers ()
	Initialize per-output subscriber lists.

void	add_subscriber_to_output (uint32_t subscriber_base_addr, uint8_t input_index=0, std::size_t output_idx=0)
	Add subscriber to correct output-specific list.

std::size_t	find_output_index_by_type_id (uint16_t type_id_low) const
	Public wrapper for find_output_index_by_type_id_impl.

void	spawn_all_output_work_threads (std::index_sequence< Is... >)
	Spawn all output work threads.

void	spawn_output_work_thread ()
	Spawn work thread for a specific output index.

void	join_output_work_threads ()
	Join all output work threads.

void	output_work_loop ()
	Work loop for a specific output index.

void	start_all_mailbox_sets (std::index_sequence< Is... >)
	Start all MailboxSets (CMD/WORK/PUBLISH mailboxes)

void	start_mailbox_set ()
	Start a single MailboxSet (CMD/WORK/PUBLISH)

void	stop_all_mailbox_sets (std::index_sequence< Is... >)
	Stop all MailboxSets.

void	stop_mailbox_set ()
	Stop a single MailboxSet (CMD/WORK/PUBLISH)

auto &	get_mailbox_set ()
	Get specific MailboxSet by index.

auto &	get_cmd_mailbox ()
	Get CMD mailbox for specific output index.

auto &	get_work_mailbox ()
	Get WORK mailbox for specific output index.

auto &	get_publish_mailbox ()
	Get PUBLISH mailbox for specific output index (internal)

Protected Member Functions inherited from commrat::LoopExecutor< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >
Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > &	module ()

const Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > &	module () const

Protected Member Functions inherited from commrat::InputMetadataAccessors< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >
Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > &	module ()

const Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > &	module () const

Protected Member Functions inherited from commrat::CommandDispatcher< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, CommandTypes... >
void	command_loop ()
	Command loop - receives and dispatches user commands.

void	handle_user_command (const CmdT &cmd)
	Dispatch user command to on_command handler.

void	on_command (const CmdT &cmd)
	Handle a specific command type (override in derived class)

Protected Member Functions inherited from commrat::WorkLoopHandler< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >
void	work_loop ()
	Main work loop - handles subscription protocol messages.

Protected Member Functions inherited from commrat::InputMetadataManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >
void	update_input_metadata (std::size_t index, const TimsMessage< T > &received, bool is_new)
	Update metadata for a specific input index.

void	mark_input_invalid (std::size_t index)
	Mark input metadata as invalid (getData failed)

Static Protected Member Functions
template<typename T >
static TimsMessage< T >	create_tims_message (T &&payload, uint64_t timestamp_ns)

Static Protected Member Functions inherited from commrat::MailboxInfrastructureBuilder< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry >
static auto	create_mailbox_infrastructure (const ModuleConfig &config)
	Create mailbox infrastructure.

static auto	create_mailbox_sets_impl (const ModuleConfig &config, std::index_sequence< Is... >)
	Helper to create MailboxSet tuple for multi-output modules.

static auto	create_mailbox_set (const ModuleConfig &config)
	Create a single MailboxSet for output type at index I.

Protected Attributes
ModuleConfig	config_

MailboxSetTuple	mailbox_infrastructure_

std::optional< DataMailbox >	data_mailbox_

SubscriptionProtocolType	subscription_protocol_

PublisherType	publisher_

std::atomic< bool >	running_

std::optional< std::thread >	data_thread_

std::optional< std::thread >	command_thread_

std::array< InputMetadataStorage,(num_inputs > 0 ? num_inputs :1)>	input_metadata_

Protected Attributes inherited from commrat::MultiOutputManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, OutputTypesTuple< NormalizeOutput< OutputSpec_ >::Type >::type >
std::vector< std::vector< SubscriberInfo > >	output_subscribers_
	Per-output subscriber lists: output_subscribers_[output_index][subscriber_id].

Mutex	output_subscribers_mutex_

std::vector< std::thread >	output_work_threads_
	Per-output work threads: one thread per MailboxSet.

Static Protected Attributes
static constexpr std::size_t	num_inputs = InputCount_v<InputSpec>
	Storage for input message metadata.

Friends
class	LoopExecutor< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

class	MultiOutputManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, typename OutputTypesTuple< typename NormalizeOutput< OutputSpec_ >::Type >::type >

class	InputMetadataAccessors< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

class	CommandDispatcher< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, CommandTypes... >

class	MultiInputInfrastructure< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputTypesTuple, module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputCount >

class	MultiInputProcessor< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputTypesTuple, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::OutputData, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::OutputTypesTuple, module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputCount >

class	LifecycleManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

class	WorkLoopHandler< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

class	MailboxInfrastructureBuilder< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry >

class	InputMetadataManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

Detailed Description

template<typename UserRegistry, typename OutputSpec_, typename InputSpec_, typename... CommandTypes>
class commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >

Timestamp Management Architecture.

Timestamps are stored ONLY in TimsHeader.timestamp, never in payload. Module automatically wraps payloads in TimsMessage and sets header.timestamp:

PeriodicInput/LoopInput: timestamp = Time::now() (data generation time)
Multi-input: timestamp = primary_input.header.timestamp (sync point)
Input<T>: timestamp = input.header.timestamp (propagation)

Users never deal with timestamps - messages are clean data structures.

Modern C++20 module base using MessageRegistry

Users define their complete application message registry once, then Module automatically includes subscription protocol messages and uses the registry.

Template Parameters

UserRegistry	The application's complete MessageRegistry
OutputSpec_	Output specification: Output<T>, Outputs<Ts...>, or raw type T (normalized to Output<T>)
InputSpec_	Input specification: Input<T>, Inputs<T,U,V>, PeriodicInput, LoopInput
CommandTypes	Optional variadic command types this module handles

Example:

class SensorModule : public Module<Registry, Output<TempData>, PeriodicInput> {
protected:
    TempData process() override {
        return TempData{.temperature_celsius = read_sensor()}
    }
};

Definition at line 91 of file registry_module.hpp.

Member Typedef Documentation

◆ InputData

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

using commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::InputData = typename ModuleTypes::InputData

Definition at line 204 of file registry_module.hpp.

◆ OutputData

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

using commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::OutputData = typename ModuleTypes::OutputData

Definition at line 203 of file registry_module.hpp.

◆ PublisherType

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

using commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::PublisherType = commrat::Publisher< UserRegistry, OutputData, PublishMailbox, Module<UserRegistry, OutputSpec_, InputSpec_, CommandTypes...> >

protected

Definition at line 280 of file registry_module.hpp.

◆ SubscriptionProtocolType

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

using commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::SubscriptionProtocolType = commrat::SubscriptionProtocol< UserRegistry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >

protected

Definition at line 267 of file registry_module.hpp.

Constructor & Destructor Documentation

◆ Module() [1/3]

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::Module ( const ModuleConfig & config )

inlineexplicit

Definition at line 337 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::config_, commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::initialize_mailbox_infrastructure_impl(), commrat::MultiOutputManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, OutputTypesTuple< NormalizeOutput< OutputSpec_ >::Type >::type >::initialize_output_subscribers(), commrat::ModuleConfig::name, commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publisher_, commrat::SubscriptionProtocol< Registry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >::set_config(), commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::set_module_name(), commrat::SubscriptionProtocol< Registry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >::set_module_name(), commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::set_module_ptr(), commrat::SubscriptionProtocol< Registry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >::set_work_mailbox(), commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::subscription_protocol_, and commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::work_mailbox().

◆ ~Module()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

virtual commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::~Module ( )

inlinevirtual

Definition at line 377 of file registry_module.hpp.

References commrat::LifecycleManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >::stop().

◆ Module() [2/3]

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::Module ( const Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes > & )

delete

◆ Module() [3/3]

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::Module ( Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes > && )

delete

Member Function Documentation

◆ add_subscriber_to_output()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::add_subscriber_to_output	(	uint32_t	subscriber_base_addr,
		uint8_t	mailbox_index,
		std::size_t	output_idx = `0`
	)

inline

Add subscriber to correct output-specific list.

Delegates to MultiOutputManager mixin. PUBLIC: Called by SubscriptionProtocol handlers.

Definition at line 482 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::add_subscriber_to_output().

Referenced by commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::add_subscriber_to_output().

◆ cmd_mailbox()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

CmdMailbox & commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::cmd_mailbox ( )

inlineprotected

Definition at line 221 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::mailbox_infrastructure_.

◆ create_tims_message()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<typename T >

static TimsMessage< T > commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::create_tims_message	(	T &&	payload,
		uint64_t	timestamp_ns
	)

inlinestaticprotected

Definition at line 527 of file registry_module.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailbox, Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >::create_tims_message().

◆ get_cmd_mailbox()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<std::size_t Index>

auto & commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::get_cmd_mailbox ( )

inlineprotected

Definition at line 254 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::mailbox_infrastructure_.

◆ get_cmd_mailbox_public()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<std::size_t Index>

auto & commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::get_cmd_mailbox_public ( )

inline

Get cmd mailbox by index (public for Publisher access) Phase 7: CMD mailbox used for publishing.

Definition at line 433 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::mailbox_infrastructure_.

◆ get_mailbox_set()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<std::size_t Index>

auto & commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::get_mailbox_set ( )

inlineprotected

Definition at line 236 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::mailbox_infrastructure_.

◆ get_publish_mailbox()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<std::size_t Index>

auto & commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::get_publish_mailbox ( )

inlineprotected

Definition at line 242 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::mailbox_infrastructure_.

◆ get_publish_mailbox_public()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<std::size_t Index>

auto & commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::get_publish_mailbox_public ( )

inline

Get publish mailbox by index (public for Publisher access)

Definition at line 424 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::mailbox_infrastructure_.

◆ get_work_mailbox()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<std::size_t Index>

auto & commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::get_work_mailbox ( )

inlineprotected

Definition at line 248 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::mailbox_infrastructure_.

◆ handle_subscribe_reply()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::handle_subscribe_reply ( const SubscribeReplyPayload & reply )

inline

Definition at line 468 of file registry_module.hpp.

References commrat::SubscriptionProtocol< Registry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >::handle_subscribe_reply(), and commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::subscription_protocol_.

◆ handle_subscribe_request()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::handle_subscribe_request	(	const SubscribeRequestPayload &	req,
		std::size_t	output_idx = `0`
	)

inline

Definition at line 464 of file registry_module.hpp.

References commrat::SubscriptionProtocol< Registry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >::handle_subscribe_request(), and commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::subscription_protocol_.

◆ handle_unsubscribe_request()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::handle_unsubscribe_request ( const UnsubscribeRequestPayload & req )

inline

Definition at line 472 of file registry_module.hpp.

References commrat::SubscriptionProtocol< Registry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >::handle_unsubscribe_request(), and commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::subscription_protocol_.

◆ initialize_mailbox_infrastructure_impl()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<std::size_t... Is>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::initialize_mailbox_infrastructure_impl	(	const ModuleConfig &	config,
		std::index_sequence< Is... >
	)

inlineprotected

Definition at line 331 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::mailbox_infrastructure_.

Referenced by commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::Module().

◆ on_cleanup()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

virtual void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::on_cleanup ( )

inlinevirtual

Definition at line 393 of file registry_module.hpp.

◆ on_init()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

virtual void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::on_init ( )

inlinevirtual

Definition at line 390 of file registry_module.hpp.

◆ on_start()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

virtual void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::on_start ( )

inlinevirtual

Definition at line 391 of file registry_module.hpp.

◆ on_stop()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

virtual void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::on_stop ( )

inlinevirtual

Definition at line 392 of file registry_module.hpp.

◆ operator=() [1/2]

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

Module & commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::operator= ( const Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes > & )

delete

◆ operator=() [2/2]

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

Module & commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::operator= ( Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes > && )

delete

◆ process_dispatch()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<typename T = InputData, typename O = OutputData, typename = std::enable_if_t<!std::is_void_v<O> && !is_tuple_v<O>>>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::process_dispatch	(	const T &	input,
		O &	output
	)

inlineprotected

Definition at line 406 of file registry_module.hpp.

References commrat::ContinuousProcessorBase< ExtractInputPayload< NormalizeInput< InputSpec_ >::Type >::type, ExtractOutputPayload< NormalizeOutput< OutputSpec_ >::Type >::type >::process().

◆ publish_mailbox()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

PublishMailbox & commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publish_mailbox ( )

inlineprotected

Definition at line 229 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::mailbox_infrastructure_.

◆ publish_multi_outputs()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<typename... Ts>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publish_multi_outputs ( std::tuple< Ts... > & outputs )

inlineprotected

Definition at line 517 of file registry_module.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_multi_outputs(), and commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publisher_.

◆ publish_multi_outputs_with_timestamp()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<typename... Ts>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publish_multi_outputs_with_timestamp	(	std::tuple< Ts... > &	outputs,
		uint64_t	timestamp_ns
	)

inlineprotected

Definition at line 522 of file registry_module.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_multi_outputs_with_timestamp(), and commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publisher_.

◆ publish_tims_message()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<typename T >

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publish_tims_message ( TimsMessage< T > & tims_msg )

inlineprotected

Definition at line 512 of file registry_module.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_tims_message(), and commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publisher_.

◆ publish_to_subscribers()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

template<typename T = OutputData>
requires (!std::is_void_v<T>)

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publish_to_subscribers ( T & data )

inlineprotected

Definition at line 507 of file registry_module.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_to_subscribers(), and commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publisher_.

◆ remove_subscriber()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::remove_subscriber ( uint32_t subscriber_base_addr )

inline

Remove subscriber (for unsubscribe)

Delegates to MultiOutputManager mixin. PUBLIC: Called by SubscriptionProtocol handlers.

Definition at line 493 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::remove_subscriber().

Referenced by commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::remove_subscriber().

◆ subscribe_to_all_sources()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::subscribe_to_all_sources ( )

inlineprotected

Definition at line 446 of file registry_module.hpp.

References commrat::SubscriptionProtocol< Registry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >::subscribe_to_all_sources(), and commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::subscription_protocol_.

◆ subscribe_to_source()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::subscribe_to_source	(	uint8_t	source_system_id,
		uint8_t	source_instance_id
	)

inlineprotected

Definition at line 450 of file registry_module.hpp.

References commrat::SubscriptionProtocol< Registry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >::subscribe_to_source(), and commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::subscription_protocol_.

◆ unsubscribe_from_multi_input_source()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::unsubscribe_from_multi_input_source ( const MultiInputConfig::InputSource & source )

inlineprotected

Definition at line 458 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::subscription_protocol_, and commrat::SubscriptionProtocol< Registry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >::unsubscribe_from_multi_input_source().

◆ unsubscribe_from_source()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

void commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::unsubscribe_from_source	(	uint8_t	source_system_id,
		uint8_t	source_instance_id
	)

inlineprotected

Definition at line 454 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::subscription_protocol_, and commrat::SubscriptionProtocol< Registry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >::unsubscribe_from_source().

◆ work_mailbox()

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

WorkMailbox & commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::work_mailbox ( )

inlineprotected

Definition at line 225 of file registry_module.hpp.

References commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::mailbox_infrastructure_.

Referenced by commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::Module().

Friends And Related Symbol Documentation

◆ CommandDispatcher< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, CommandTypes... >

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

friend class CommandDispatcher< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, CommandTypes... >

friend

Definition at line 40 of file registry_module.hpp.

◆ InputMetadataAccessors< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

friend class InputMetadataAccessors< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

friend

Definition at line 40 of file registry_module.hpp.

◆ InputMetadataManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

friend class InputMetadataManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

friend

Definition at line 40 of file registry_module.hpp.

◆ LifecycleManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

friend class LifecycleManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

friend

Definition at line 40 of file registry_module.hpp.

◆ LoopExecutor< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

friend class LoopExecutor< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

friend

Definition at line 40 of file registry_module.hpp.

◆ MailboxInfrastructureBuilder< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry >

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

friend class MailboxInfrastructureBuilder< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry >

friend

Definition at line 40 of file registry_module.hpp.

◆ MultiInputInfrastructure< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputTypesTuple, module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputCount >

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

friend class MultiInputInfrastructure< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputTypesTuple, module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputCount >

friend

Definition at line 40 of file registry_module.hpp.

◆ MultiInputProcessor< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputTypesTuple, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::OutputData, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::OutputTypesTuple, module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputCount >

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

friend class MultiInputProcessor< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputTypesTuple, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::OutputData, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::OutputTypesTuple, module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputCount >

friend

Definition at line 40 of file registry_module.hpp.

◆ MultiOutputManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, typename OutputTypesTuple< typename NormalizeOutput< OutputSpec_ >::Type >::type >

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

friend class MultiOutputManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, typename OutputTypesTuple< typename NormalizeOutput< OutputSpec_ >::Type >::type >

friend

Definition at line 40 of file registry_module.hpp.

◆ WorkLoopHandler< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

friend class WorkLoopHandler< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

friend

Definition at line 40 of file registry_module.hpp.

Member Data Documentation

◆ command_thread_

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

std::optional<std::thread> commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::command_thread_

protected

Definition at line 292 of file registry_module.hpp.

◆ config_

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

ModuleConfig commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::config_

protected

Definition at line 213 of file registry_module.hpp.

Referenced by commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::Module().

◆ data_mailbox_

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

std::optional<DataMailbox> commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::data_mailbox_

protected

Definition at line 260 of file registry_module.hpp.

◆ data_thread_

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

std::optional<std::thread> commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::data_thread_

protected

Definition at line 291 of file registry_module.hpp.

◆ has_continuous_input

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

constexpr bool commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::has_continuous_input = ModuleTypes::has_continuous_input

staticconstexpr

Definition at line 207 of file registry_module.hpp.

◆ has_loop_input

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

constexpr bool commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::has_loop_input = ModuleTypes::has_loop_input

staticconstexpr

Definition at line 209 of file registry_module.hpp.

◆ has_multi_output

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

constexpr bool commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::has_multi_output = ModuleTypes::has_multi_output

staticconstexpr

Definition at line 210 of file registry_module.hpp.

◆ has_periodic_input

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

constexpr bool commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::has_periodic_input = ModuleTypes::has_periodic_input

staticconstexpr

Definition at line 208 of file registry_module.hpp.

◆ input_metadata_

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

std::array<InputMetadataStorage, (num_inputs > 0 ? num_inputs : 1)> commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::input_metadata_

protected

Definition at line 318 of file registry_module.hpp.

◆ mailbox_infrastructure_

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

MailboxSetTuple commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::mailbox_infrastructure_

protected

Definition at line 218 of file registry_module.hpp.

◆ num_inputs

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

constexpr std::size_t commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::num_inputs = InputCount_v<InputSpec>

staticconstexprprotected

Storage for input message metadata.

Stores metadata about received input messages, populated before process() calls. Available to derived classes via get_input_metadata<Index>() accessors.

Note: InputMetadataStorage defined in commrat/module/metadata/input_metadata.hpp

Definition at line 315 of file registry_module.hpp.

◆ publisher_

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

PublisherType commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publisher_

protected

Definition at line 286 of file registry_module.hpp.

Referenced by commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::Module(), commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publish_multi_outputs(), commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publish_multi_outputs_with_timestamp(), commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publish_tims_message(), and commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publish_to_subscribers().

◆ running_

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

std::atomic<bool> commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::running_

protected

Definition at line 288 of file registry_module.hpp.

◆ subscription_protocol_

template<typename UserRegistry , typename OutputSpec_ , typename InputSpec_ , typename... CommandTypes>

SubscriptionProtocolType commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::subscription_protocol_

protected

Definition at line 277 of file registry_module.hpp.

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

commrat/messaging/message_registry.hpp
commrat/registry_module.hpp

Public Types

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ InputData

◆ OutputData

◆ PublisherType

◆ SubscriptionProtocolType

Constructor & Destructor Documentation

◆ Module() [1/3]

◆ ~Module()

◆ Module() [2/3]

◆ Module() [3/3]

Member Function Documentation

◆ add_subscriber_to_output()

◆ cmd_mailbox()

◆ create_tims_message()

◆ get_cmd_mailbox()

◆ get_cmd_mailbox_public()

◆ get_mailbox_set()

◆ get_publish_mailbox()

◆ get_publish_mailbox_public()

◆ get_work_mailbox()

◆ handle_subscribe_reply()

◆ handle_subscribe_request()

◆ handle_unsubscribe_request()

◆ initialize_mailbox_infrastructure_impl()

◆ on_cleanup()

◆ on_init()

◆ on_start()

◆ on_stop()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ process_dispatch()

◆ publish_mailbox()

◆ publish_multi_outputs()

◆ publish_multi_outputs_with_timestamp()

◆ publish_tims_message()

◆ publish_to_subscribers()

◆ remove_subscriber()

◆ subscribe_to_all_sources()

◆ subscribe_to_source()

◆ unsubscribe_from_multi_input_source()

◆ unsubscribe_from_source()

◆ work_mailbox()

Friends And Related Symbol Documentation

◆ CommandDispatcher< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, CommandTypes... >

◆ InputMetadataAccessors< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

◆ InputMetadataManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

◆ LifecycleManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

◆ LoopExecutor< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

◆ MailboxInfrastructureBuilder< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry >

◆ MultiInputInfrastructure< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, typename module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputTypesTuple, module_traits::ModuleTypes< UserRegistry, OutputSpec_, InputSpec_ >::InputCount >

◆ MultiOutputManager< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... >, UserRegistry, typename OutputTypesTuple< typename NormalizeOutput< OutputSpec_ >::Type >::type >

◆ WorkLoopHandler< Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes... > >

Member Data Documentation

◆ command_thread_

◆ config_

◆ data_mailbox_

◆ data_thread_

◆ has_continuous_input

◆ has_loop_input

◆ has_multi_output

◆ has_periodic_input

◆ input_metadata_

◆ mailbox_infrastructure_

◆ num_inputs

◆ publisher_

◆ running_

◆ subscription_protocol_