CommRaT - Modern C++ Real-Time Communication Framework. More...

Namespaces
namespace	literals
	Timestamp comparison and arithmetic operators.

namespace	Message

namespace	module_traits

Classes
struct	AckPayload

struct	AutoAssignIDs
	Helper to assign auto-incremented IDs to messages marked with needs_auto_id. More...

struct	AutoAssignIDs<>

struct	AutoAssignIDsProcess

struct	AutoAssignIDsProcess< std::tuple< ProcessedDefs... > >

struct	AutoAssignIDsProcess< std::tuple< ProcessedDefs... >, First, Rest... >

struct	CheckCollisions

class	CommandDispatcher
	Command dispatcher mixin. More...

struct	CommandPayload

class	CommRaT
	CommRaT Application Template - Main User-Facing Interface. More...

class	ConditionVariable
	Condition variable wrapper. More...

class	ContinuousProcessorBase

class	ContinuousProcessorBase< InputData_, void >

class	ContinuousProcessorBase< void, OutputData_ >

class	ContinuousProcessorBase< void, void >

struct	DefaultMessageDef
	Default values for message definition. More...

struct	EmptyBase2

struct	EmptyBase3

struct	EmptyPayload
	Empty payload for messages that only need their ID. More...

struct	ErrorPayload

struct	ExtractInputPayload

struct	ExtractInputPayload< Input< T > >

struct	ExtractInputTypes

struct	ExtractInputTypes< Input< T > >

struct	ExtractInputTypes< Inputs< Ts... > >

struct	ExtractOutputPayload

struct	ExtractOutputPayload< Output< T > >

struct	ExtractOutputPayload< Outputs< Ts... > >

class	HistoricalMailbox
	Mailbox with timestamped history for getData synchronization. More...

struct	Input
	Single continuous input specification. More...

struct	InputCount
	Get the number of inputs in an InputSpec. More...

struct	InputCount< Input< T > >

struct	InputCount< Inputs< Ts... > >

struct	InputMetadata
	Input metadata structure returned by accessor methods. More...

class	InputMetadataAccessors
	Mixin providing input metadata accessor methods. More...

class	InputMetadataManager
	Phase 9: Input Metadata Manager CRTP Mixin. More...

struct	InputMetadataStorage
	Storage for input message metadata. More...

struct	InputPayloadTypes
	Extract payload types from Inputs<Ts...> as a tuple. More...

struct	InputPayloadTypes< Input< T > >

struct	InputPayloadTypes< Inputs< Ts... > >

struct	Inputs
	Multiple continuous inputs specification. More...

struct	IntrospectionHelper
	Registry-wide introspection and schema export. More...

struct	is_commrat_message

struct	is_commrat_message< TimsMessage< P > >

struct	is_loop_input

struct	is_loop_input< LoopInput >

struct	is_multi_input

struct	is_multi_input< Inputs< Ts... > >

struct	is_multi_output

struct	is_multi_output< Outputs< Ts... > >

struct	is_no_output

struct	is_no_output< NoOutput >

struct	is_periodic_input

struct	is_periodic_input< PeriodicInput >

struct	is_primary_input

struct	is_primary_input< PrimaryInput< T > >

struct	is_single_input

struct	is_single_input< Input< T > >

struct	is_single_output

struct	is_single_output< Output< T > >

struct	is_tuple

struct	is_tuple< std::tuple< Ts... > >

class	LifecycleManager
	Phase 6: Lifecycle Management CRTP Mixin. More...

class	LoopExecutor
	Loop execution logic for Module data threads. More...

struct	LoopInput
	Free-running loop - module runs as fast as possible, no input data. More...

class	Mailbox
	Strongly-typed mailbox for message-based communication. More...

struct	MailboxConfig

class	MailboxInfrastructureBuilder
	Phase 8: Mailbox Infrastructure Builder. More...

class	MailboxResult

class	MailboxResult< void >

struct	MailboxSet
	Complete set of mailboxes for one output type. More...

struct	message_payload

struct	message_payload< TimsMessage< P > >

struct	message_type_for

struct	MessageDefinition
	Message definition with compile-time ID assignment. More...

class	MessageRegistry
	Compile-time message type registry using MessageDefinition templates. More...

struct	MessageSchema
	Complete schema for a CommRaT message type. More...

class	Module
	Timestamp Management Architecture. More...

struct	ModuleConfig

struct	MultiInputConfig
	Multi-input - Multiple synchronized sources. More...

class	MultiInputInfrastructure
	Multi-input infrastructure mixin. More...

class	MultiInputProcessor
	Multi-input processing mixin. More...

class	MultiInputProcessorBase

class	MultiInputProcessorBase< InputTypesTuple_, OutputData_, 0 >

class	MultiInputProcessorBase< InputTypesTuple_, OutputData_, 1 >

class	MultiInputProcessorBase< std::tuple< InputTs... >, std::tuple< OutputTs... >, sizeof...(InputTs)>

class	MultiInputProcessorBase< std::tuple< Ts... >, OutputData_, sizeof...(Ts)>

struct	MultiOutputConfig
	Multi-output - Each output gets its own addressing Use when multiple outputs have same type (would collide with SimpleOutput) More...

class	MultiOutputManager
	CRTP mixin for multi-output mailbox and subscriber management. More...

class	MultiOutputProcessorBase

class	MultiOutputProcessorBase< std::tuple< T >, InputData_ >

class	MultiOutputProcessorBase< std::tuple< T >, void >

class	MultiOutputProcessorBase< std::tuple< Ts... >, InputData_ >

class	MultiOutputProcessorBase< std::tuple< Ts... >, void >

class	Mutex
	Mutex wrapper (future: realtime mutex support) More...

struct	NoInputConfig
	No input - Periodic or LoopInput modules only. More...

struct	NoOutput
	No output specification (sink module) More...

struct	NoOutputConfig
	No output - Module only consumes inputs (logger, monitor, controller) Still needs addressing for CMD/WORK mailboxes. More...

struct	NormalizeInput
	Pass-through for input specifications (no normalization needed) More...

struct	NormalizeOutput
	Maps raw output types to Output<T> format. More...

struct	Output
	Single output specification. More...

struct	OutputCount
	Get the number of outputs in an OutputSpec. More...

struct	OutputCount< NoOutput >

struct	OutputCount< Output< T > >

struct	OutputCount< Outputs< Ts... > >

struct	OutputPayloadTypes
	Extract payload types from Outputs<Ts...> as a tuple. More...

struct	OutputPayloadTypes< Output< T > >

struct	OutputPayloadTypes< Outputs< Ts... > >

struct	Outputs
	Multiple outputs specification. More...

struct	OutputTypesTuple

struct	OutputTypesTuple< Output< T > >

struct	OutputTypesTuple< Outputs< Ts... > >

struct	PeriodicInput
	Periodic execution - module runs on a timer, no input data. More...

struct	PrimaryInput
	Primary input designation for multi-input synchronization (Phase 6) More...

struct	PrimaryInputIndex
	Extract the index of the primary input type within Inputs<Ts...> More...

struct	PrimaryInputIndex< PrimaryT, std::tuple< First, Rest... > >

struct	PrimaryInputIndex< PrimaryT, std::tuple< PrimaryT, Rest... > >

struct	PrimaryInputIndex< PrimaryT, std::tuple<> >

class	Publisher
	Publishing logic for producer modules. More...

struct	RawReceivedMessage
	Raw received message with type info. More...

struct	ReceiveTypes
	Tag type to mark send-only types in template parameter. More...

class	Registry
	Build a complete registry with automatic Module and Mailbox aliases. More...

class	RegistryMailbox
	Mailbox that takes a MessageRegistry and exposes payload-only interface. More...

struct	Reply
	Define a reply message paired with a request. More...

struct	Request
	Mark a message as a request that expects a reply. More...

struct	ResolveMultiInputBase

struct	ResolveMultiInputBase< InputSpec_, Outputs< OutputTypes... > >

struct	RobotStatePayload

struct	SendOnlyTypes

struct	SensorPayload

class	SharedMutex
	Shared mutex wrapper (reader-writer lock) More...

struct	SimpleOutputConfig
	Simple output - All outputs share same system_id/instance_id Use when output types are distinct (no collisions) More...

struct	SingleInputConfig
	Single input - One source module. More...

struct	SingleInputType
	Get the single payload type from Input<T> More...

struct	SingleInputType< Input< T > >

class	SingleOutputProcessorBase

class	SingleOutputProcessorBase< InputData_, void >

class	SingleOutputProcessorBase< void, OutputData_ >

class	SingleOutputProcessorBase< void, void >

struct	SingleOutputType
	Get the single payload type from Output<T> or legacy OutputDataT. More...

struct	SingleOutputType< Output< T > >

struct	StatusPayload

struct	SubscribeReplyPayload
	Reply to subscription request. More...

struct	SubscribeRequestPayload
	Request to subscribe to continuous data from a producer module. More...

struct	SubscriberInfo
	Subscriber routing information. More...

class	SubscriptionProtocol
	Subscription protocol handler. More...

struct	SubscriptionState
	Subscription state tracker for multi-input modules. More...

class	Thread
	Thread wrapper with realtime support. More...

struct	ThreadConfig
	Thread configuration. More...

class	Time
	Time utility class - abstraction over clock sources. More...

struct	TimestampAccessor
	Trait to access timestamp from different message types. More...

struct	TimestampAccessor< TimsMessage< PayloadT > >

class	TimestampedRingBuffer
	Thread-safe timestamped ring buffer with getData lookup. More...

struct	TimsConfig

struct	TimsHeader

struct	TimsMessage

class	TimsWrapper

class	TypedMailbox
	Type-restricted mailbox with optimized buffer sizing. More...

class	TypedMailbox< Registry, ReceiveTypes< ReceiveTypesInner... >, SendOnlyTypes< SendOnlyTypesInner... > >
	TypedMailbox with separate send-only types. More...

class	TypedMailbox< Registry, SendOnlyTypes< SendOnlyTypesInner... > >
	TypedMailbox with only send types (no receive) More...

struct	UnsubscribeReplyPayload
	Acknowledgment of unsubscribe request. More...

struct	UnsubscribeRequestPayload
	Request to unsubscribe from continuous data. More...

struct	ValidatePrimaryInput
	Validate that PrimaryInput<T> is compatible with Inputs<Ts...> More...

class	WorkLoopHandler
	Phase 7: Work Loop Handler CRTP Mixin. More...

Concepts
concept	ValidOutputSpec

concept	ValidInputSpec

concept	PeriodicOrLoop

concept	HasContinuousInput

Typedefs
using	StandardMailbox = Mailbox< CommandMessage, StatusMessage, ErrorMessage, AckMessage, SensorMessage, RobotStateMessage >
	Standard mailbox with common message types.

template<typename... CustomTypes>
using	CustomMailbox = Mailbox< CommandMessage, StatusMessage, ErrorMessage, AckMessage, CustomTypes... >
	Create a custom mailbox with standard types plus user types.

template<typename Registry , typename PayloadT >
using	SingleTypeMailbox = TypedMailbox< Registry, PayloadT >
	Create a typed mailbox for a single payload type.

template<typename Registry , typename... CommandTypes>
using	CommandMailbox = TypedMailbox< Registry, CommandTypes... >
	Create a typed mailbox for command types.

template<typename Registry , typename... DataTypes>
using	DataMailbox = TypedMailbox< Registry, DataTypes... >
	Create a typed mailbox for data types.

using	MessageType = uint32_t

using	CommandMessage = TimsMessage< CommandPayload >

using	StatusMessage = TimsMessage< StatusPayload >

using	ErrorMessage = TimsMessage< ErrorPayload >

using	AckMessage = TimsMessage< AckPayload >

using	SensorMessage = TimsMessage< SensorPayload >

using	RobotStateMessage = TimsMessage< RobotStatePayload >

template<typename T >
using	DataMessage = TimsMessage< T >

template<typename T >
using	message_payload_t = typename message_payload< T >::type

template<typename... MessageDefs>
using	make_registry = MessageRegistry< MessageDefs... >
	Create a message registry from a list of MessageDefinition types.

template<typename... MessageDefs>
using	CustomRegistry = MessageRegistry< MessageDefs... >
	Type alias for creating custom registries.

using	SubscribeRequest = MessageDefinition< SubscribeRequestPayload, MessagePrefix::System, SystemSubPrefix::Subscription, 0x0001 >

using	SubscribeReply = MessageDefinition< SubscribeReplyPayload, MessagePrefix::System, SystemSubPrefix::Subscription, 0x0002 >

using	UnsubscribeRequest = MessageDefinition< UnsubscribeRequestPayload, MessagePrefix::System, SystemSubPrefix::Subscription, 0x0003 >

using	UnsubscribeReply = MessageDefinition< UnsubscribeReplyPayload, MessagePrefix::System, SystemSubPrefix::Subscription, 0x0004 >

using	SubscribeRequestType = typename SubscribeRequest::Payload

using	SubscribeReplyType = typename SubscribeReply::Payload

using	UnsubscribeRequestType = typename UnsubscribeRequest::Payload

using	UnsubscribeReplyType = typename UnsubscribeReply::Payload

using	SystemRegistry = MessageRegistry< SubscribeRequest, SubscribeReply, UnsubscribeRequest, UnsubscribeReply >
	Framework system messages that are always included.

template<typename... UserMessageDefs>
using	CombinedRegistry = MessageRegistry< SubscribeRequest, SubscribeReply, UnsubscribeRequest, UnsubscribeReply, UserMessageDefs... >
	Combine system messages with user messages into one registry.

template<typename T >
using	NormalizeInput_t = typename NormalizeInput< T >::Type

template<typename T >
using	NormalizeOutput_t = typename NormalizeOutput< T >::Type

template<typename InputSpec >
using	InputPayloadTypes_t = typename InputPayloadTypes< InputSpec >::Type

template<typename OutputSpec >
using	OutputPayloadTypes_t = typename OutputPayloadTypes< OutputSpec >::Type

template<typename OutputSpec >
using	SingleOutputType_t = typename SingleOutputType< OutputSpec >::Type

template<typename InputSpec >
using	SingleInputType_t = typename SingleInputType< InputSpec >::Type

using	OutputConfig = rfl::TaggedUnion<"output_type", NoOutputConfig, SimpleOutputConfig, MultiOutputConfig >

using	InputConfig = rfl::TaggedUnion<"input_type", NoInputConfig, SingleInputConfig, MultiInputConfig >

using	Lock = std::lock_guard< Mutex >
	Scoped lock guard (RAII)

using	UniqueLock = std::unique_lock< Mutex >

using	SharedLock = std::shared_lock< SharedMutex >
	Scoped shared lock (RAII) - for readers.

using	UniqueLockShared = std::unique_lock< SharedMutex >
	Scoped unique lock (RAII) - for writers.

using	Timestamp = uint64_t
	Timestamp type - uint64_t nanoseconds since epoch.

using	Nanoseconds = std::chrono::nanoseconds
	Duration type aliases (compatible with std::chrono but using uint64_t)

using	Microseconds = std::chrono::microseconds

using	Milliseconds = std::chrono::milliseconds

using	Seconds = std::chrono::seconds

using	Minutes = std::chrono::minutes

using	Hours = std::chrono::hours

Enumerations
enum class	MailboxError { NotInitialized , InvalidMessage , Timeout , QueueFull , QueueEmpty , SerializationError , NetworkError , InvalidDestination , AlreadyRunning , NotRunning }

enum class	InterpolationMode { NEAREST , BEFORE , AFTER , INTERPOLATE }
	Interpolation mode for timestamp-based lookup. More...

enum class	MessagePrefix : uint8_t { System = 0x00 , UserDefined = 0x01 }
	Message ID prefixes. More...

enum class	SystemSubPrefix : uint8_t { Subscription = 0x00 , Control = 0x01 , Reserved = 0xFF }
	System message sub-categories (when Prefix == System) More...

enum class	UserSubPrefix : uint8_t { Data = 0x00 , Commands = 0x01 , Events = 0x02 , Custom = 0x03 }
	User-defined message sub-categories (when Prefix == UserDefined) More...

enum class	MailboxType : uint8_t { CMD = 0 , WORK = 16 , PUBLISH = 32 , DATA = 48 }

enum class	ThreadPriority { IDLE = 0 , LOW = 10 , NORMAL = 50 , HIGH = 75 , REALTIME = 99 }
	Thread priority levels. More...

enum class	SchedulingPolicy { NORMAL , FIFO , ROUND_ROBIN , DEADLINE }
	Thread scheduling policy. More...

enum class	TimsResult { SUCCESS = 0 , ERROR_INIT = -1 , ERROR_SEND = -2 , ERROR_RECEIVE = -3 , ERROR_TIMEOUT = -4 , ERROR_INVALID_MESSAGE = -5 , ERROR_NOT_INITIALIZED = -6 }

Functions
constexpr const char *	to_string (MailboxError error)

template<typename Registry >
auto	make_mailbox (const MailboxConfig &config)

template<typename T >
constexpr MessageType	type_hash ()

template<typename T >
auto	serialize (T &message) -> typename sertial::Message< T >::Result

template<typename T >
auto	deserialize (std::span< const std::byte > data) -> sertial::DeserializeResult< T >

template<typename T >
auto	deserialize (const uint8_t *data, size_t size) -> sertial::DeserializeResult< T >

template<typename T >
auto	serialize_message (T &message) -> typename sertial::Message< T >::Result

template<typename T >
auto	deserialize_message (std::span< const std::byte > data) -> sertial::DeserializeResult< T >

template<typename T >
auto	deserialize_message (const uint8_t *data, size_t size) -> sertial::DeserializeResult< T >

constexpr uint32_t	make_message_id (uint8_t prefix, uint8_t subprefix, uint16_t id)
	Compile-time message ID construction.

constexpr uint32_t	system_message_id (SystemSubPrefix subprefix, uint16_t id)
	System message ID helper.

constexpr uint32_t	user_message_id (UserSubPrefix subprefix, uint16_t id)
	User message ID helper.

constexpr uint32_t	encode_address (uint8_t type_id, uint8_t system_id, uint8_t instance_id, uint8_t mailbox_index)
	Encode full mailbox address Format: [type_id:8][system_id:8][instance_id:8][mailbox_index:8] Example: 0xTTSSIIMM (easy hex debugging)

constexpr uint32_t	get_base_address (uint8_t type_id, uint8_t system_id, uint8_t instance_id)
	Get base address (type/system/instance only, mailbox_index=0)

constexpr uint8_t	extract_mailbox_index (uint32_t addr)
	Extract mailbox index from full address.

constexpr uint8_t	extract_type_id (uint32_t addr)
	Extract type ID from address.

constexpr uint8_t	extract_system_id (uint32_t addr)
	Extract system ID from address.

constexpr uint8_t	extract_instance_id (uint32_t addr)
	Extract instance ID from address.

constexpr uint8_t	get_data_mbx_base (uint8_t num_outputs)
	Get DATA mailbox base index (after all CMD mailboxes)

constexpr uint8_t	extract_message_type_from_address (uint32_t base_addr)
	Extract message type ID from subscriber base address (for backward compatibility) Now just extracts type_id field from new encoding.

template<typename OutputData , typename OutputTypesTuple , typename UserRegistry >
static constexpr uint32_t	calculate_base_address (uint8_t system_id, uint8_t instance_id)
	Calculate base mailbox address from output type, system_id, and instance_id New format: [type_id:8][system_id:8][instance_id:8][mailbox_index:8] Returns base address with mailbox_index=0.

template<typename OutputData , typename OutputTypesTuple , typename UserRegistry >
static constexpr uint32_t	get_mailbox_address (uint8_t system_id, uint8_t instance_id, uint8_t mailbox_index)
	Get specific mailbox address with index.

template<typename... CommandTypes>
static constexpr size_t	calculate_cmd_mailbox_size ()
	Calculate CMD mailbox size at compile time Size = max(SystemRegistry messages, Module's Commands<...>)

template<typename InputType >
static constexpr size_t	get_data_mailbox_size ()
	Calculate DATA mailbox size for specific input type.

static MailboxConfig	createWorkMailboxConfig (const ModuleConfig &config)
	Create work mailbox config (for SystemRegistry messages)

template<typename T >
TimsMessage< T >	create_tims_message (T &&payload, uint64_t timestamp_ns)
	Create TimsMessage with header.timestamp set.

template<typename T , typename... Types>
static constexpr std::size_t	find_type_index ()
	Find index of type T in input tuple.

void	signal_handler (int signal)
	Signal handler for graceful shutdown.

template<typename ModuleType , typename Registry >
int	module_main (const ModuleConfig &config)
	Main entry point for standalone module binaries.

template<typename ModuleType , typename Registry >
int	module_main (int argc, char **argv)
	Main entry point with argc/argv handling.

Variables
template<typename T >
constexpr bool	is_commrat_message_v = is_commrat_message<T>::value

template<typename T >
constexpr size_t	max_message_buffer_size_v = sertial::Message<T>::max_buffer_size

template<typename T >
constexpr size_t	packed_message_size_v = sertial::Message<T>::packed_size

template<typename T >
constexpr bool	message_has_padding_v = sertial::Message<T>::has_padding

constexpr uint16_t	AUTO_ID = 0xFFFF

constexpr uint8_t	TYPE_ID_SHIFT = 24

constexpr uint8_t	SYSTEM_ID_SHIFT = 16

constexpr uint8_t	INSTANCE_ID_SHIFT = 8

constexpr uint8_t	MAILBOX_INDEX_SHIFT = 0

constexpr uint32_t	TYPE_ID_MASK = 0xFF000000

constexpr uint32_t	SYSTEM_ID_MASK = 0x00FF0000

constexpr uint32_t	INSTANCE_ID_MASK = 0x0000FF00

constexpr uint32_t	MAILBOX_INDEX_MASK = 0x000000FF

constexpr uint8_t	CMD_MBX_BASE = 0

template<typename T >
constexpr bool	is_single_output_v = is_single_output<T>::value

template<typename T >
constexpr bool	is_multi_output_v = is_multi_output<T>::value

template<typename T >
constexpr bool	is_no_output_v = is_no_output<T>::value

template<typename T >
constexpr bool	is_periodic_input_v = is_periodic_input<T>::value

template<typename T >
constexpr bool	is_loop_input_v = is_loop_input<T>::value

template<typename T >
constexpr bool	is_single_input_v = is_single_input<T>::value

template<typename T >
constexpr bool	is_multi_input_v = is_multi_input<T>::value

template<typename T >
constexpr bool	is_primary_input_v = is_primary_input<T>::value

template<typename T >
constexpr size_t	OutputCount_v = OutputCount<T>::value

template<typename T >
constexpr size_t	InputCount_v = InputCount<T>::value

template<typename PrimaryT , typename InputsTuple >
constexpr size_t	PrimaryInputIndex_v = PrimaryInputIndex<PrimaryT, InputsTuple>::value

template<typename PrimaryInputSpec , typename InputSpec >
constexpr bool	ValidatePrimaryInput_v

constexpr uint32_t	DEFAULT_CMD_SLOTS = 10

constexpr uint32_t	DEFAULT_DATA_SLOTS = 50

std::atomic< bool >	g_shutdown_requested {false}

template<typename T >
constexpr bool	is_tuple_v = is_tuple<T>::value

Detailed Description

CommRaT - Modern C++ Real-Time Communication Framework.

CommRaT introspection provides complete schema export.

Integrates RACK's TiMS IPC with SeRTial's reflective serialization to provide compile-time safe, zero-syscall, RT-capable messaging.

Key Features:

Compile-time message type registry for zero-overhead dispatch
Template-based serialization with automatic type validation
Runtime visitor pattern for dynamic message handling
Zero-allocation design using SeRTial containers
Automatic system message inclusion
Clean payload-only user interface

Exports both:

CommRaT metadata (message IDs, type names, size bounds)
SeRTial layout (fields, types, offsets, sizes, variable flags)

Supports any rfl format: JSON, YAML, TOML, XML, etc.

Typedef Documentation

◆ AckMessage

using commrat::AckMessage = typedef TimsMessage<AckPayload>

Definition at line 132 of file messages.hpp.

◆ CombinedRegistry

template<typename... UserMessageDefs>

using commrat::CombinedRegistry = typedef MessageRegistry< SubscribeRequest, SubscribeReply, UnsubscribeRequest, UnsubscribeReply, UserMessageDefs... >

Combine system messages with user messages into one registry.

Deprecated:: Use Registry<> instead for automatic Module/Mailbox aliases

Definition at line 86 of file system_registry.hpp.

◆ CommandMailbox

template<typename Registry , typename... CommandTypes>

using commrat::CommandMailbox = typedef TypedMailbox<Registry, CommandTypes...>

Create a typed mailbox for command types.

Useful naming convention for CMD mailboxes in modules.

Example:

CommandMailbox<MyRegistry, ResetCmd, CalibrateCmd> cmd_mailbox(config);

commrat::TypedMailbox

Type-restricted mailbox with optimized buffer sizing.

Definition typed_mailbox.hpp:82

Definition at line 661 of file typed_mailbox.hpp.

◆ CommandMessage

using commrat::CommandMessage = typedef TimsMessage<CommandPayload>

Definition at line 129 of file messages.hpp.

◆ CustomMailbox

template<typename... CustomTypes>

using commrat::CustomMailbox = typedef Mailbox< CommandMessage, StatusMessage, ErrorMessage, AckMessage, CustomTypes... >

Create a custom mailbox with standard types plus user types.

Definition at line 629 of file mailbox.hpp.

◆ CustomRegistry

template<typename... MessageDefs>

using commrat::CustomRegistry = typedef MessageRegistry<MessageDefs...>

Type alias for creating custom registries.

Definition at line 591 of file message_registry.hpp.

◆ DataMailbox

template<typename Registry , typename... DataTypes>

using commrat::DataMailbox = typedef TypedMailbox<Registry, DataTypes...>

Create a typed mailbox for data types.

Useful naming convention for DATA mailboxes in modules.

Example:

DataMailbox<MyRegistry, SensorData, StatusData> data_mailbox(config);

Definition at line 674 of file typed_mailbox.hpp.

◆ DataMessage

template<typename T >

using commrat::DataMessage = typedef TimsMessage<T>

Definition at line 138 of file messages.hpp.

◆ ErrorMessage

using commrat::ErrorMessage = typedef TimsMessage<ErrorPayload>

Definition at line 131 of file messages.hpp.

◆ Hours

using commrat::Hours = typedef std::chrono::hours

Definition at line 42 of file timestamp.hpp.

◆ InputConfig

using commrat::InputConfig = typedef rfl::TaggedUnion<"input_type", NoInputConfig, SingleInputConfig, MultiInputConfig>

Definition at line 101 of file module_config.hpp.

◆ InputPayloadTypes_t

template<typename InputSpec >

using commrat::InputPayloadTypes_t = typedef typename InputPayloadTypes<InputSpec>::Type

Definition at line 450 of file io_spec.hpp.

◆ Lock

using commrat::Lock = typedef std::lock_guard<Mutex>

Scoped lock guard (RAII)

Usage: Mutex mtx; { Lock lock(mtx); // Acquires lock // ... critical section ... } // Releases lock automatically

Definition at line 302 of file threading.hpp.

◆ make_registry

template<typename... MessageDefs>

using commrat::make_registry = typedef MessageRegistry<MessageDefs...>

Create a message registry from a list of MessageDefinition types.

Usage: using MyRegistry = make_registry< MessageDefinition<StatusData, MessagePrefix::UserDefined, UserSubPrefix::Data>, MessageDefinition<SubscribeRequest, MessagePrefix::System, SystemSubPrefix::Subscription, 0x0001> >;

Definition at line 585 of file message_registry.hpp.

◆ message_payload_t

template<typename T >

using commrat::message_payload_t = typedef typename message_payload<T>::type

Definition at line 163 of file messages.hpp.

◆ MessageType

using commrat::MessageType = typedef uint32_t

Definition at line 25 of file messages.hpp.

◆ Microseconds

using commrat::Microseconds = typedef std::chrono::microseconds

Definition at line 38 of file timestamp.hpp.

◆ Milliseconds

using commrat::Milliseconds = typedef std::chrono::milliseconds

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 39 of file timestamp.hpp.

◆ Minutes

using commrat::Minutes = typedef std::chrono::minutes

Definition at line 41 of file timestamp.hpp.

◆ Nanoseconds

using commrat::Nanoseconds = typedef std::chrono::nanoseconds

Duration type aliases (compatible with std::chrono but using uint64_t)

These provide drop-in replacements for std::chrono::duration types while maintaining compatibility with future realtime clock sources.

Definition at line 37 of file timestamp.hpp.

◆ NormalizeInput_t

template<typename T >

using commrat::NormalizeInput_t = typedef typename NormalizeInput<T>::Type

Definition at line 406 of file io_spec.hpp.

◆ NormalizeOutput_t

template<typename T >

using commrat::NormalizeOutput_t = typedef typename NormalizeOutput<T>::Type

Definition at line 425 of file io_spec.hpp.

◆ OutputConfig

using commrat::OutputConfig = typedef rfl::TaggedUnion<"output_type", NoOutputConfig, SimpleOutputConfig, MultiOutputConfig>

Definition at line 73 of file module_config.hpp.

◆ OutputPayloadTypes_t

template<typename OutputSpec >

using commrat::OutputPayloadTypes_t = typedef typename OutputPayloadTypes<OutputSpec>::Type

Definition at line 471 of file io_spec.hpp.

◆ RobotStateMessage

using commrat::RobotStateMessage = typedef TimsMessage<RobotStatePayload>

Definition at line 134 of file messages.hpp.

◆ Seconds

using commrat::Seconds = typedef std::chrono::seconds

Definition at line 40 of file timestamp.hpp.

◆ SensorMessage

using commrat::SensorMessage = typedef TimsMessage<SensorPayload>

Definition at line 133 of file messages.hpp.

◆ SharedLock

using commrat::SharedLock = typedef std::shared_lock<SharedMutex>

Scoped shared lock (RAII) - for readers.

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/timestamped_ring_buffer.hpp.

Definition at line 308 of file threading.hpp.

◆ SingleInputType_t

template<typename InputSpec >

using commrat::SingleInputType_t = typedef typename SingleInputType<InputSpec>::Type

Definition at line 503 of file io_spec.hpp.

◆ SingleOutputType_t

template<typename OutputSpec >

using commrat::SingleOutputType_t = typedef typename SingleOutputType<OutputSpec>::Type

Definition at line 487 of file io_spec.hpp.

◆ SingleTypeMailbox

template<typename Registry , typename PayloadT >

using commrat::SingleTypeMailbox = typedef TypedMailbox<Registry, PayloadT>

Create a typed mailbox for a single payload type.

Example:

SingleTypeMailbox<MyRegistry, SensorData> data_mailbox(config);

Definition at line 648 of file typed_mailbox.hpp.

◆ StandardMailbox

using commrat::StandardMailbox = typedef Mailbox< CommandMessage, StatusMessage, ErrorMessage, AckMessage, SensorMessage, RobotStateMessage >

Standard mailbox with common message types.

Definition at line 616 of file mailbox.hpp.

◆ StatusMessage

using commrat::StatusMessage = typedef TimsMessage<StatusPayload>

Definition at line 130 of file messages.hpp.

◆ SubscribeReply

using commrat::SubscribeReply = typedef MessageDefinition< SubscribeReplyPayload, MessagePrefix::System, SystemSubPrefix::Subscription, 0x0002 >

Definition at line 62 of file subscription_messages.hpp.

◆ SubscribeReplyType

using commrat::SubscribeReplyType = typedef typename SubscribeReply::Payload

Definition at line 86 of file subscription_messages.hpp.

◆ SubscribeRequest

using commrat::SubscribeRequest = typedef MessageDefinition< SubscribeRequestPayload, MessagePrefix::System, SystemSubPrefix::Subscription, 0x0001 >

Definition at line 55 of file subscription_messages.hpp.

◆ SubscribeRequestType

using commrat::SubscribeRequestType = typedef typename SubscribeRequest::Payload

Definition at line 85 of file subscription_messages.hpp.

◆ SystemRegistry

using commrat::SystemRegistry = typedef MessageRegistry< SubscribeRequest, SubscribeReply, UnsubscribeRequest, UnsubscribeReply >

Framework system messages that are always included.

These messages are used by the framework for subscription protocol and other internal communication. Users don't need to manually include these.

Definition at line 28 of file system_registry.hpp.

◆ Timestamp

using commrat::Timestamp = typedef uint64_t

Timestamp type - uint64_t nanoseconds since epoch.

Compatible with TiMS timestamp format. Range: ~584 years from epoch (sufficient for all practical purposes)

Definition at line 29 of file timestamp.hpp.

◆ UniqueLock

using commrat::UniqueLock = typedef std::unique_lock<Mutex>

Definition at line 303 of file threading.hpp.

◆ UniqueLockShared

using commrat::UniqueLockShared = typedef std::unique_lock<SharedMutex>

Scoped unique lock (RAII) - for writers.

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/timestamped_ring_buffer.hpp.

Definition at line 313 of file threading.hpp.

◆ UnsubscribeReply

using commrat::UnsubscribeReply = typedef MessageDefinition< UnsubscribeReplyPayload, MessagePrefix::System, SystemSubPrefix::Subscription, 0x0004 >

Definition at line 77 of file subscription_messages.hpp.

◆ UnsubscribeReplyType

using commrat::UnsubscribeReplyType = typedef typename UnsubscribeReply::Payload

Definition at line 88 of file subscription_messages.hpp.

◆ UnsubscribeRequest

using commrat::UnsubscribeRequest = typedef MessageDefinition< UnsubscribeRequestPayload, MessagePrefix::System, SystemSubPrefix::Subscription, 0x0003 >

Definition at line 70 of file subscription_messages.hpp.

◆ UnsubscribeRequestType

using commrat::UnsubscribeRequestType = typedef typename UnsubscribeRequest::Payload

Definition at line 87 of file subscription_messages.hpp.

Enumeration Type Documentation

◆ InterpolationMode

enum class commrat::InterpolationMode

strong

Interpolation mode for timestamp-based lookup.

Enumerator
NEAREST	Return closest message by timestamp.
BEFORE	Return message at or before requested timestamp.
AFTER	Return message at or after requested timestamp.
INTERPOLATE	Linear interpolation (if T supports it - future)

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp, and /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/timestamped_ring_buffer.hpp.

Definition at line 52 of file timestamped_ring_buffer.hpp.

◆ MailboxError

enum class commrat::MailboxError

strong

Enumerator
NotInitialized
InvalidMessage
Timeout
QueueFull
QueueEmpty
SerializationError
NetworkError
InvalidDestination
AlreadyRunning
NotRunning

Definition at line 22 of file mailbox.hpp.

◆ MailboxType

enum class commrat::MailboxType : uint8_t

strong

Enumerator
CMD
WORK
PUBLISH
DATA

Definition at line 38 of file module_config.hpp.

◆ MessagePrefix

enum class commrat::MessagePrefix : uint8_t

strong

Message ID prefixes.

Enumerator
System	Framework control messages (subscription, etc.)
UserDefined	User application messages (start from 0x01)

Definition at line 16 of file message_id.hpp.

◆ SchedulingPolicy

enum class commrat::SchedulingPolicy

strong

Thread scheduling policy.

Enumerator
NORMAL	Default OS scheduling (SCHED_OTHER)
FIFO	First-in-first-out realtime (SCHED_FIFO)
ROUND_ROBIN	Round-robin realtime (SCHED_RR)
DEADLINE	Deadline scheduling (SCHED_DEADLINE) - future.

Definition at line 45 of file threading.hpp.

◆ SystemSubPrefix

enum class commrat::SystemSubPrefix : uint8_t

strong

System message sub-categories (when Prefix == System)

Enumerator
Subscription	Subscription protocol messages.
Control	Module control (on/off/reset/etc.)
Reserved	Reserved for future use.

Definition at line 22 of file message_id.hpp.

◆ ThreadPriority

enum class commrat::ThreadPriority

strong

Thread priority levels.

Enumerator
IDLE	Idle priority (background tasks)
LOW	Low priority.
NORMAL	Normal priority (default)
HIGH	High priority (I/O, event handling)
REALTIME	Realtime priority (critical paths)

Definition at line 34 of file threading.hpp.

◆ TimsResult

enum class commrat::TimsResult

strong

Enumerator
SUCCESS
ERROR_INIT
ERROR_SEND
ERROR_RECEIVE
ERROR_TIMEOUT
ERROR_INVALID_MESSAGE
ERROR_NOT_INITIALIZED

Definition at line 36 of file tims_wrapper.hpp.

◆ UserSubPrefix

enum class commrat::UserSubPrefix : uint8_t

strong

User-defined message sub-categories (when Prefix == UserDefined)

Enumerator
Data	Data messages (sensor data, state, etc.)
Commands	Command messages.
Events	Event notifications.
Custom	User can start custom categories from here.

Definition at line 29 of file message_id.hpp.

Function Documentation

◆ calculate_base_address()

template<typename OutputData , typename OutputTypesTuple , typename UserRegistry >

static constexpr uint32_t commrat::calculate_base_address	(	uint8_t	system_id,
		uint8_t	instance_id
	)

staticconstexpr

Calculate base mailbox address from output type, system_id, and instance_id New format: [type_id:8][system_id:8][instance_id:8][mailbox_index:8] Returns base address with mailbox_index=0.

Definition at line 107 of file address_helpers.hpp.

References get_base_address().

◆ calculate_cmd_mailbox_size()

template<typename... CommandTypes>

static constexpr size_t commrat::calculate_cmd_mailbox_size ( )

staticconstexpr

Calculate CMD mailbox size at compile time Size = max(SystemRegistry messages, Module's Commands<...>)

Definition at line 139 of file address_helpers.hpp.

◆ create_tims_message()

template<typename T >

TimsMessage< T > commrat::create_tims_message	(	T &&	payload,
		uint64_t	timestamp_ns
	)

Create TimsMessage with header.timestamp set.

Phase 6.10: Timestamps stored ONLY in TimsHeader, not in payload. This helper wraps a payload in TimsMessage with the given timestamp.

Definition at line 21 of file tims_helpers.hpp.

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

◆ createWorkMailboxConfig()

static MailboxConfig commrat::createWorkMailboxConfig ( const ModuleConfig & config )

inlinestatic

Create work mailbox config (for SystemRegistry messages)

Deprecated:: Work mailbox concept will be merged into CMD mailbox

Definition at line 165 of file address_helpers.hpp.

References commrat::MailboxConfig::mailbox_id, commrat::MessageRegistry< MessageDefs >::max_message_size, commrat::ModuleConfig::message_slots, commrat::ModuleConfig::name, commrat::ModuleConfig::priority, and commrat::ModuleConfig::realtime.

◆ deserialize() [1/2]

template<typename T >

auto commrat::deserialize	(	const uint8_t *	data,
		size_t	size
	)		-> sertial::DeserializeResult<T>

Definition at line 201 of file messages.hpp.

◆ deserialize() [2/2]

template<typename T >

auto commrat::deserialize ( std::span< const std::byte > data ) -> sertial::DeserializeResult<T>

Definition at line 192 of file messages.hpp.

Referenced by commrat::Mailbox< MessageDefs >::receive(), and commrat::Mailbox< MessageDefs >::receive_for().

◆ deserialize_message() [1/2]

template<typename T >

auto commrat::deserialize_message	(	const uint8_t *	data,
		size_t	size
	)		-> sertial::DeserializeResult<T>

Definition at line 219 of file messages.hpp.

◆ deserialize_message() [2/2]

template<typename T >

auto commrat::deserialize_message ( std::span< const std::byte > data ) -> sertial::DeserializeResult<T>

Definition at line 214 of file messages.hpp.

◆ encode_address()

constexpr uint32_t commrat::encode_address	(	uint8_t	type_id,
		uint8_t	system_id,
		uint8_t	instance_id,
		uint8_t	mailbox_index
	)

constexpr

Encode full mailbox address Format: [type_id:8][system_id:8][instance_id:8][mailbox_index:8] Example: 0xTTSSIIMM (easy hex debugging)

Definition at line 39 of file address_helpers.hpp.

References INSTANCE_ID_SHIFT, MAILBOX_INDEX_SHIFT, SYSTEM_ID_SHIFT, and TYPE_ID_SHIFT.

Referenced by get_base_address().

◆ extract_instance_id()

constexpr uint8_t commrat::extract_instance_id ( uint32_t addr )

constexpr

Extract instance ID from address.

Definition at line 78 of file address_helpers.hpp.

References INSTANCE_ID_MASK, and INSTANCE_ID_SHIFT.

◆ extract_mailbox_index()

constexpr uint8_t commrat::extract_mailbox_index ( uint32_t addr )

constexpr

Extract mailbox index from full address.

Definition at line 57 of file address_helpers.hpp.

References MAILBOX_INDEX_MASK, and MAILBOX_INDEX_SHIFT.

◆ extract_message_type_from_address()

constexpr uint8_t commrat::extract_message_type_from_address ( uint32_t base_addr )

inlineconstexpr

Extract message type ID from subscriber base address (for backward compatibility) Now just extracts type_id field from new encoding.

Definition at line 93 of file address_helpers.hpp.

References extract_type_id().

◆ extract_system_id()

constexpr uint8_t commrat::extract_system_id ( uint32_t addr )

constexpr

Extract system ID from address.

Definition at line 71 of file address_helpers.hpp.

References SYSTEM_ID_MASK, and SYSTEM_ID_SHIFT.

◆ extract_type_id()

constexpr uint8_t commrat::extract_type_id ( uint32_t addr )

constexpr

Extract type ID from address.

Definition at line 64 of file address_helpers.hpp.

References TYPE_ID_MASK, and TYPE_ID_SHIFT.

Referenced by extract_message_type_from_address().

◆ find_type_index()

template<typename T , typename... Types>

static constexpr std::size_t commrat::find_type_index ( )

staticconstexpr

Find index of type T in input tuple.

Compile-time helper to locate type in parameter pack. Static asserts if type not found or appears multiple times.

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/module/metadata/input_metadata_accessors.hpp.

Definition at line 54 of file input_metadata.hpp.

Referenced by commrat::InputMetadataAccessors< ModuleType >::get_input_metadata(), commrat::InputMetadataAccessors< ModuleType >::get_input_timestamp(), commrat::InputMetadataAccessors< ModuleType >::has_new_data(), and commrat::InputMetadataAccessors< ModuleType >::is_input_valid().

◆ get_base_address()

constexpr uint32_t commrat::get_base_address	(	uint8_t	type_id,
		uint8_t	system_id,
		uint8_t	instance_id
	)

constexpr

Get base address (type/system/instance only, mailbox_index=0)

Definition at line 50 of file address_helpers.hpp.

References encode_address().

Referenced by calculate_base_address().

◆ get_data_mailbox_size()

template<typename InputType >

static constexpr size_t commrat::get_data_mailbox_size ( )

staticconstexpr

Calculate DATA mailbox size for specific input type.

Definition at line 153 of file address_helpers.hpp.

◆ get_data_mbx_base()

constexpr uint8_t commrat::get_data_mbx_base ( uint8_t num_outputs )

constexpr

Get DATA mailbox base index (after all CMD mailboxes)

Definition at line 85 of file address_helpers.hpp.

References CMD_MBX_BASE.

Referenced by commrat::SubscriptionProtocol< Registry, has_continuous_input, has_multi_input, InputData, InputTypesTuple, InputCount, OutputData, OutputTypesTuple >::subscribe_to_source_impl().

◆ get_mailbox_address()

template<typename OutputData , typename OutputTypesTuple , typename UserRegistry >

static constexpr uint32_t commrat::get_mailbox_address	(	uint8_t	system_id,
		uint8_t	instance_id,
		uint8_t	mailbox_index
	)

staticconstexpr

Get specific mailbox address with index.

Definition at line 125 of file address_helpers.hpp.

◆ make_mailbox()

template<typename Registry >

auto commrat::make_mailbox ( const MailboxConfig & config )

Definition at line 245 of file registry_mailbox.hpp.

◆ make_message_id()

constexpr uint32_t commrat::make_message_id	(	uint8_t	prefix,
		uint8_t	subprefix,
		uint16_t	id
	)

constexpr

Compile-time message ID construction.

Definition at line 37 of file message_id.hpp.

Referenced by commrat::MessageRegistry< MessageDefs >::get_all_ids_impl(), system_message_id(), and user_message_id().

◆ module_main() [1/2]

template<typename ModuleType , typename Registry >

int commrat::module_main ( const ModuleConfig & config )

Main entry point for standalone module binaries.

Provides complete lifecycle management:

Signal handler installation (SIGINT, SIGTERM)
Module instantiation with configuration
Module start and execution
Graceful shutdown on signal
Exception handling with proper exit codes

Real-time safe after module start. Uses blocking sleep (0% CPU idle).

Template Parameters

ModuleType	Module class (must inherit from Module<...>)
Registry	Message registry (CommRaT<...>)

Parameters

config Module configuration

Returns: Exit code (0=success, 1=error, 130=SIGINT)

Note: This function does NOT duplicate Module lifecycle - it just wraps it with process-level concerns (signals, CLI, config loading).

Example:

ModuleConfig config{
    .name = "SensorModule",
    .system_id = 10,
    .instance_id = 1,
    .period = Milliseconds(100)
};
return module_main<SensorModule, MyApp>(config);

Definition at line 61 of file module_main.hpp.

References g_shutdown_requested, commrat::ModuleConfig::instance_id(), commrat::ModuleConfig::name, signal_handler(), commrat::Time::sleep(), and commrat::ModuleConfig::system_id().

◆ module_main() [2/2]

template<typename ModuleType , typename Registry >

int commrat::module_main	(	int	argc,
		char **	argv
	)

Main entry point with argc/argv handling.

Overload that handles configuration from command line:

No arguments: Use compile-time defaults
Single file argument: Load config from JSON/YAML/BSON/TOML (auto-detect by extension)
CLI flags: Parse via rfl::parse_args with auto-generated –help

Template Parameters

ModuleType	Module class (must inherit from Module<...>)
Registry	Message registry (CommRaT<...>)

Parameters

argc	Argument count
argv	Argument vector

Returns: Exit code (0=success, 1=error, 130=SIGINT)

Definition at line 114 of file module_main.hpp.

◆ serialize()

template<typename T >

auto commrat::serialize ( T & message ) -> typename sertial::Message<T>::Result

Definition at line 171 of file messages.hpp.

Referenced by serialize_message().

◆ serialize_message()

template<typename T >

auto commrat::serialize_message ( T & message ) -> typename sertial::Message<T>::Result

Definition at line 209 of file messages.hpp.

References serialize().

Referenced by commrat::TimsWrapper::send(), and commrat::MessageRegistry< MessageDefs >::serialize().

◆ signal_handler()

void commrat::signal_handler ( int signal )

inline

Signal handler for graceful shutdown.

Handles SIGINT and SIGTERM by setting shutdown flag.

Definition at line 24 of file module_main.hpp.

References g_shutdown_requested.

Referenced by module_main().

◆ system_message_id()

constexpr uint32_t commrat::system_message_id	(	SystemSubPrefix	subprefix,
		uint16_t	id
	)

constexpr

System message ID helper.

Definition at line 44 of file message_id.hpp.

References make_message_id(), and System.

◆ to_string()

constexpr const char * commrat::to_string ( MailboxError error )

constexpr

Definition at line 36 of file mailbox.hpp.

References AlreadyRunning, InvalidDestination, InvalidMessage, NetworkError, NotInitialized, NotRunning, QueueEmpty, QueueFull, SerializationError, and Timeout.

◆ type_hash()

template<typename T >

constexpr MessageType commrat::type_hash ( )

constexpr

Definition at line 29 of file messages.hpp.

◆ user_message_id()

constexpr uint32_t commrat::user_message_id	(	UserSubPrefix	subprefix,
		uint16_t	id
	)

constexpr

User message ID helper.

Definition at line 53 of file message_id.hpp.

References make_message_id(), and UserDefined.

Variable Documentation

◆ AUTO_ID

constexpr uint16_t commrat::AUTO_ID = 0xFFFF

constexpr

Definition at line 9 of file message_helpers.hpp.

◆ CMD_MBX_BASE

constexpr uint8_t commrat::CMD_MBX_BASE = 0

constexpr

Definition at line 28 of file address_helpers.hpp.

Referenced by get_data_mbx_base().

◆ DEFAULT_CMD_SLOTS

constexpr uint32_t commrat::DEFAULT_CMD_SLOTS = 10

constexpr

Definition at line 33 of file module_config.hpp.

◆ DEFAULT_DATA_SLOTS

constexpr uint32_t commrat::DEFAULT_DATA_SLOTS = 50

constexpr

Definition at line 34 of file module_config.hpp.

◆ g_shutdown_requested

std::atomic<bool> commrat::g_shutdown_requested {false}

inline

Definition at line 17 of file module_main.hpp.

Referenced by module_main(), and signal_handler().

◆ InputCount_v

template<typename T >

constexpr size_t commrat::InputCount_v = InputCount<T>::value

inlineconstexpr

Definition at line 391 of file io_spec.hpp.

◆ INSTANCE_ID_MASK

constexpr uint32_t commrat::INSTANCE_ID_MASK = 0x0000FF00

constexpr

Definition at line 24 of file address_helpers.hpp.

Referenced by extract_instance_id().

◆ INSTANCE_ID_SHIFT

constexpr uint8_t commrat::INSTANCE_ID_SHIFT = 8

constexpr

Definition at line 18 of file address_helpers.hpp.

Referenced by encode_address(), and extract_instance_id().

◆ is_commrat_message_v

template<typename T >

constexpr bool commrat::is_commrat_message_v = is_commrat_message<T>::value

inlineconstexpr

Definition at line 151 of file messages.hpp.

◆ is_loop_input_v

template<typename T >

constexpr bool commrat::is_loop_input_v = is_loop_input<T>::value

inlineconstexpr

Definition at line 300 of file io_spec.hpp.

◆ is_multi_input_v

template<typename T >

constexpr bool commrat::is_multi_input_v = is_multi_input<T>::value

inlineconstexpr

Definition at line 318 of file io_spec.hpp.

◆ is_multi_output_v

template<typename T >

constexpr bool commrat::is_multi_output_v = is_multi_output<T>::value

inlineconstexpr

Definition at line 266 of file io_spec.hpp.

◆ is_no_output_v

template<typename T >

constexpr bool commrat::is_no_output_v = is_no_output<T>::value

inlineconstexpr

Definition at line 275 of file io_spec.hpp.

◆ is_periodic_input_v

template<typename T >

constexpr bool commrat::is_periodic_input_v = is_periodic_input<T>::value

inlineconstexpr

Definition at line 291 of file io_spec.hpp.

◆ is_primary_input_v

template<typename T >

constexpr bool commrat::is_primary_input_v = is_primary_input<T>::value

inlineconstexpr

Definition at line 327 of file io_spec.hpp.

◆ is_single_input_v

template<typename T >

constexpr bool commrat::is_single_input_v = is_single_input<T>::value

inlineconstexpr

Definition at line 309 of file io_spec.hpp.

◆ is_single_output_v

template<typename T >

constexpr bool commrat::is_single_output_v = is_single_output<T>::value

inlineconstexpr

Definition at line 257 of file io_spec.hpp.

◆ is_tuple_v

template<typename T >

constexpr bool commrat::is_tuple_v = is_tuple<T>::value

inlineconstexpr

Definition at line 40 of file registry_module.hpp.

◆ MAILBOX_INDEX_MASK

constexpr uint32_t commrat::MAILBOX_INDEX_MASK = 0x000000FF

constexpr

Definition at line 25 of file address_helpers.hpp.

Referenced by extract_mailbox_index().

◆ MAILBOX_INDEX_SHIFT

constexpr uint8_t commrat::MAILBOX_INDEX_SHIFT = 0

constexpr

Definition at line 19 of file address_helpers.hpp.

Referenced by encode_address(), and extract_mailbox_index().

◆ max_message_buffer_size_v

template<typename T >

constexpr size_t commrat::max_message_buffer_size_v = sertial::Message<T>::max_buffer_size

inlineconstexpr

Definition at line 228 of file messages.hpp.

◆ message_has_padding_v

template<typename T >

constexpr bool commrat::message_has_padding_v = sertial::Message<T>::has_padding

inlineconstexpr

Definition at line 236 of file messages.hpp.

◆ OutputCount_v

template<typename T >

constexpr size_t commrat::OutputCount_v = OutputCount<T>::value

inlineconstexpr

Definition at line 370 of file io_spec.hpp.

◆ packed_message_size_v

template<typename T >

constexpr size_t commrat::packed_message_size_v = sertial::Message<T>::packed_size

inlineconstexpr

Definition at line 232 of file messages.hpp.

◆ PrimaryInputIndex_v

template<typename PrimaryT , typename InputsTuple >

constexpr size_t commrat::PrimaryInputIndex_v = PrimaryInputIndex<PrimaryT, InputsTuple>::value

inlineconstexpr

Definition at line 553 of file io_spec.hpp.

◆ SYSTEM_ID_MASK

constexpr uint32_t commrat::SYSTEM_ID_MASK = 0x00FF0000

constexpr

Definition at line 23 of file address_helpers.hpp.

Referenced by extract_system_id().

◆ SYSTEM_ID_SHIFT

constexpr uint8_t commrat::SYSTEM_ID_SHIFT = 16

constexpr

Definition at line 17 of file address_helpers.hpp.

Referenced by encode_address(), and extract_system_id().

◆ TYPE_ID_MASK

constexpr uint32_t commrat::TYPE_ID_MASK = 0xFF000000

constexpr

Definition at line 22 of file address_helpers.hpp.

Referenced by extract_type_id().

◆ TYPE_ID_SHIFT

constexpr uint8_t commrat::TYPE_ID_SHIFT = 24

constexpr

Definition at line 16 of file address_helpers.hpp.

Referenced by encode_address(), and extract_type_id().

◆ ValidatePrimaryInput_v

template<typename PrimaryInputSpec , typename InputSpec >

constexpr bool commrat::ValidatePrimaryInput_v

inlineconstexpr

Initial value:

=

ValidatePrimaryInput<PrimaryInputSpec, InputSpec>::value

Definition at line 583 of file io_spec.hpp.

Namespaces

Classes

Concepts

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ AckMessage

◆ CombinedRegistry

◆ CommandMailbox

◆ CommandMessage

◆ CustomMailbox

◆ CustomRegistry

◆ DataMailbox

◆ DataMessage

◆ ErrorMessage

◆ Hours

◆ InputConfig

◆ InputPayloadTypes_t

◆ Lock

◆ make_registry

◆ message_payload_t

◆ MessageType

◆ Microseconds

◆ Milliseconds

◆ Minutes

◆ Nanoseconds

◆ NormalizeInput_t

◆ NormalizeOutput_t

◆ OutputConfig

◆ OutputPayloadTypes_t

◆ RobotStateMessage

◆ Seconds

◆ SensorMessage

◆ SharedLock

◆ SingleInputType_t

◆ SingleOutputType_t

◆ SingleTypeMailbox

◆ StandardMailbox

◆ StatusMessage

◆ SubscribeReply

◆ SubscribeReplyType

◆ SubscribeRequest

◆ SubscribeRequestType

◆ SystemRegistry

◆ Timestamp

◆ UniqueLock

◆ UniqueLockShared

◆ UnsubscribeReply

◆ UnsubscribeReplyType

◆ UnsubscribeRequest

◆ UnsubscribeRequestType

Enumeration Type Documentation

◆ InterpolationMode

◆ MailboxError

◆ MailboxType

◆ MessagePrefix

◆ SchedulingPolicy

◆ SystemSubPrefix

◆ ThreadPriority

◆ TimsResult

◆ UserSubPrefix

Function Documentation

◆ calculate_base_address()

◆ calculate_cmd_mailbox_size()

◆ create_tims_message()

◆ createWorkMailboxConfig()

◆ deserialize() [1/2]

◆ deserialize() [2/2]

◆ deserialize_message() [1/2]

◆ deserialize_message() [2/2]

◆ encode_address()

◆ extract_instance_id()

◆ extract_mailbox_index()

◆ extract_message_type_from_address()

◆ extract_system_id()

◆ extract_type_id()

◆ find_type_index()