Publishing logic for producer modules. More...

#include <commrat/module/services/publishing.hpp>

Public Member Functions
void	set_module_ptr (ModuleType *ptr)

void	set_module_name (const std::string &name)

template<typename T = OutputData> requires (!std::is_void_v<T>)
void	publish_to_subscribers (T &data)
	Single-output publishing (only enabled when OutputData is not void) Publishes data to all subscribers' DATA mailboxes.

template<typename T >
void	publish_tims_message (TimsMessage< T > &tims_msg)
	Publish TimsMessage<T> for single output Phase 6.10: Uses explicit timestamp from header Phase 7: Uses CMD mailbox and new addressing.

template<std::size_t Index, typename OutputType >
void	send_output_at_index (uint16_t subscriber_type_id_low, OutputType &output, uint32_t dest_mailbox)
	Send output at given index if type matches subscriber's expected type Phase 7.4: Uses Module's get_publish_mailbox<Index>() for per-output mailboxes.

template<typename... Ts, std::size_t... Is>
void	publish_multi_outputs_impl (std::tuple< Ts... > &outputs, std::index_sequence< Is... >)
	Multi-output publishing implementation Phase 7: Each output publishes to its own subscriber list.

template<std::size_t Index, typename OutputType >
void	publish_output_at_index (OutputType &output)
	Publish specific output to its subscribers (Phase 7) Uses CMD mailbox (one per output) and new addressing.

template<typename... Ts>
void	publish_multi_outputs (std::tuple< Ts... > &outputs)
	Publish multiple outputs (tuple) to subscribers Each subscriber receives only outputs matching their subscribed type.

template<typename... Ts>
void	publish_multi_outputs_with_timestamp (std::tuple< Ts... > &outputs, uint64_t timestamp_ns)
	Publish multi-outputs with explicit timestamp Phase 6.10: Wraps each output in TimsMessage with timestamp.

Static Public Member Functions
template<typename T >
static TimsMessage< T >	create_tims_message (T &&payload, uint64_t timestamp_ns)
	Create TimsMessage with explicit timestamp Phase 6.10: Single source of truth for timestamps (header.timestamp)

Protected Attributes
ModuleType *	module_ptr_ {nullptr}

std::string	module_name_

Detailed Description

template<typename UserRegistry, typename OutputData, typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>
class commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >

Publishing logic for producer modules.

Handles publishing to subscribers with type-specific filtering. After unification, ALL modules use MailboxSets and access subscribers via module_ptr_->get_output_subscribers(index).

Phase 7: Uses CMD mailbox (index 0) for publishing, calculates dest as subscriber.base_addr | subscriber.mailbox_index.

Template parameters:

UserRegistry: User message registry
OutputData: Single output type (or void for multi-output)
PublishMailboxT: Publish mailbox type (defaults to TypedMailbox<UserRegistry>)
ModuleType: Module type for mailbox/subscriber access (REQUIRED after unification)

Definition at line 48 of file publishing.hpp.

Member Function Documentation

◆ create_tims_message()

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

template<typename T >

static TimsMessage< T > commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::create_tims_message	(	T &&	payload,
		uint64_t	timestamp_ns
	)

inlinestatic

Create TimsMessage with explicit timestamp Phase 6.10: Single source of truth for timestamps (header.timestamp)

Definition at line 67 of file publishing.hpp.

References commrat::TimsMessage< PayloadT >::header, and commrat::TimsHeader::msg_type.

◆ publish_multi_outputs()

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

template<typename... Ts>

void commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_multi_outputs ( std::tuple< Ts... > & outputs )

inline

Publish multiple outputs (tuple) to subscribers Each subscriber receives only outputs matching their subscribed type.

Definition at line 203 of file publishing.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_multi_outputs_impl().

Referenced by commrat::Module< UserRegistry, OutputSpec_, InputSpec_, CommandTypes >::publish_multi_outputs(), and commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_multi_outputs_with_timestamp().

◆ publish_multi_outputs_impl()

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

template<typename... Ts, std::size_t... Is>

void commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_multi_outputs_impl	(	std::tuple< Ts... > &	outputs,
		std::index_sequence< Is... >
	)

inline

Multi-output publishing implementation Phase 7: Each output publishes to its own subscriber list.

Definition at line 168 of file publishing.hpp.

Referenced by commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_multi_outputs().

◆ publish_multi_outputs_with_timestamp()

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

template<typename... Ts>

void commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_multi_outputs_with_timestamp	(	std::tuple< Ts... > &	outputs,
		uint64_t	timestamp_ns
	)

inline

Publish multi-outputs with explicit timestamp Phase 6.10: Wraps each output in TimsMessage with timestamp.

Note: Currently delegates to publish_multi_outputs (timestamp not yet used) Future enhancement: Wrap each output in TimsMessage with timestamp

Definition at line 215 of file publishing.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_multi_outputs().

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

◆ publish_output_at_index()

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

template<std::size_t Index, typename OutputType >

void commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_output_at_index ( OutputType & output )

inline

Publish specific output to its subscribers (Phase 7) Uses CMD mailbox (one per output) and new addressing.

Definition at line 178 of file publishing.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_name_, and commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_ptr_.

◆ publish_tims_message()

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

template<typename T >

void commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_tims_message ( TimsMessage< T > & tims_msg )

inline

Publish TimsMessage<T> for single output Phase 6.10: Uses explicit timestamp from header Phase 7: Uses CMD mailbox and new addressing.

Definition at line 116 of file publishing.hpp.

References commrat::TimsMessage< PayloadT >::header, commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_name_, commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_ptr_, commrat::TimsMessage< PayloadT >::payload, and commrat::TimsHeader::timestamp.

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

◆ publish_to_subscribers()

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

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

void commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_to_subscribers ( T & data )

inline

Single-output publishing (only enabled when OutputData is not void) Publishes data to all subscribers' DATA mailboxes.

Phase 7: Uses CMD mailbox (index 0) and new addressing (base | mailbox_index)

Definition at line 89 of file publishing.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_name_, and commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_ptr_.

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

◆ send_output_at_index()

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

template<std::size_t Index, typename OutputType >

void commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::send_output_at_index	(	uint16_t	subscriber_type_id_low,
		OutputType &	output,
		uint32_t	dest_mailbox
	)

inline

Send output at given index if type matches subscriber's expected type Phase 7.4: Uses Module's get_publish_mailbox<Index>() for per-output mailboxes.

After unification, ModuleType is always set (never void), so we always use the MailboxSet approach via get_publish_mailbox_public<Index>().

Definition at line 145 of file publishing.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_name_, and commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_ptr_.

◆ set_module_name()

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

void commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::set_module_name ( const std::string & name )

inline

Definition at line 60 of file publishing.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_name_.

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

◆ set_module_ptr()

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

void commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::set_module_ptr ( ModuleType * ptr )

inline

Definition at line 59 of file publishing.hpp.

References commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_ptr_.

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

Member Data Documentation

◆ module_name_

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

std::string commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_name_

protected

Definition at line 54 of file publishing.hpp.

Referenced by commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_output_at_index(), commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_tims_message(), commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_to_subscribers(), commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::send_output_at_index(), and commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::set_module_name().

◆ module_ptr_

template<typename UserRegistry , typename OutputData , typename PublishMailboxT = TypedMailbox<UserRegistry>, typename ModuleType = void>

ModuleType* commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::module_ptr_ {nullptr}

protected

Definition at line 53 of file publishing.hpp.

Referenced by commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_output_at_index(), commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_tims_message(), commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::publish_to_subscribers(), commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::send_output_at_index(), and commrat::Publisher< UserRegistry, OutputData, PublishMailboxT, ModuleType >::set_module_ptr().

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

commrat/module/services/publishing.hpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ create_tims_message()

◆ publish_multi_outputs()

◆ publish_multi_outputs_impl()

◆ publish_multi_outputs_with_timestamp()

◆ publish_output_at_index()

◆ publish_tims_message()

◆ publish_to_subscribers()

◆ send_output_at_index()

◆ set_module_name()

◆ set_module_ptr()

Member Data Documentation

◆ module_name_

◆ module_ptr_