command_dispatcher.hpp

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#pragma once
 
#include <iostream>
#include <string>
 
namespace commrat {
 
template<typename ModuleType, typename... CommandTypes>
class CommandDispatcher {
protected:
    void command_loop() {
        auto& module = static_cast<ModuleType&>(*this);
        std::cout << "[" << module.config_.name << "] command_loop started\n";
        
        while (module.running_) {
            // Use receive_any with visitor pattern on cmd_mailbox
            // BLOCKING receive - waits indefinitely for user commands
            auto visitor = [&module](auto&& tims_msg) {
                // tims_msg is TimsMessage<PayloadT>, extract payload
                auto& msg = tims_msg.payload;
                using MsgType = std::decay_t<decltype(msg)>;
                
                std::cout << "[" << module.config_.name << "] Received command in command_loop\n";
                
                // Handle user command types only
                module.handle_user_command(msg);
            };
            
            // BLOCKING receive on command mailbox (no timeout)
            module.cmd_mailbox().receive_any(visitor);
        }
        
        std::cout << "[" << module.config_.name << "] command_loop ended\n";
    }
    
    template<typename CmdT>
    void handle_user_command(const CmdT& cmd) {
        auto& module = static_cast<ModuleType&>(*this);
        
        // Check if this is one of our declared CommandTypes
        if constexpr ((std::is_same_v<CmdT, CommandTypes> || ...)) {
            module.on_command(cmd);
        }
        // Otherwise ignore (not in our command list)
    }
    
    template<typename CmdT>
    void on_command(const CmdT& cmd) {
        // Default: no-op - override in derived classes for specific CommandTypes
        (void)cmd; // Suppress unused parameter warning
    }
};
 
} // namespace commrat