commrat.hpp

Go to the documentation of this file.

#pragma once
 
// Core framework components
#include "commrat/messages.hpp"
#include "commrat/messaging/message_id.hpp"
#include "commrat/messaging/message_registry.hpp"
#include "commrat/messaging/message_helpers.hpp"
#include "commrat/module/io_spec.hpp"
#include "commrat/messaging/system/system_registry.hpp"
#include "commrat/platform/tims_wrapper.hpp"
#include "commrat/mailbox/mailbox.hpp"
#include "commrat/mailbox/registry_mailbox.hpp"
#include "commrat/mailbox/typed_mailbox.hpp"
#include "commrat/registry_module.hpp"
#include "commrat/introspection/introspection_helper.hpp"
 
namespace commrat {
 
template<typename... MessageDefs>
class CommRaT : public MessageRegistry<MessageDefs...> {
private:
    using Registry = MessageRegistry<MessageDefs...>;
 
public:
    // Inherit all registry functionality
    using Registry::is_registered;
    using Registry::get_message_id;
    using Registry::serialize;
    using Registry::deserialize;
    using Registry::visit;
    using Registry::dispatch;
    using Registry::max_message_size;
    
    // Expose payload types tuple for introspection
    using payload_types = typename Registry::PayloadTypes;
    
    template<typename OutputSpec_, typename InputSpec_, typename... CommandTypes>
    using Module = commrat::Module<Registry, OutputSpec_, InputSpec_, CommandTypes...>;
    
    template<typename PayloadT>
    using Mailbox = RegistryMailbox<Registry>;
    
    template<std::size_t HistorySize>
    using HistoricalMailbox = commrat::HistoricalMailbox<Registry, HistorySize>;
    
    using Introspection = IntrospectionHelper<CommRaT>;
};
 
} // namespace commrat