server.hpp

#pragma once
 
#include "../topic.hpp"
#include "queue.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_;  
  QueueBase queue_;             
  RawData parse_buff_;  
  TopicHandle current_topic_ =
      nullptr;  
  MicrosecondTimestamp current_timestamp_;  
};
}  // namespace LibXR