server.hpp

#pragma once
 
#include "message.hpp"
 
namespace LibXR
{
class Topic::Server
{
 public:
  enum class Status : uint8_t
  {
    WAIT_START,    
    WAIT_TOPIC,    
    WAIT_DATA_CRC  
  };
 
  Server(size_t buffer_length);
 
  void Register(TopicHandle topic);
 
  size_t ParseData(ConstRawData data);
 
  size_t ParseDataFromCallback(ConstRawData data, bool in_isr);
 
 private:
  enum class ParseResult : uint8_t
  {
    NEED_MORE,
    DROPPED,
    DELIVERED
  };
 
  size_t ParseDataRaw(ConstRawData data, bool from_callback, bool in_isr);
  bool SyncToPacketStart();
  bool ReadHeader();
  ParseResult ReadPayload(bool from_callback, bool in_isr);
  void ResetParser();
 
  Status status_ =
      Status::WAIT_START;  
  uint32_t data_len_ = 0;  
  RBTree<uint32_t> topic_map_;           
  BaseQueue queue_;                      
  RawData parse_buff_;                   
  TopicHandle current_topic_ = nullptr;  
  MicrosecondTimestamp current_timestamp_;  
};
}  // namespace LibXR