BCNP

Binary protocol for real-time robot control. Schema-driven with C++/Python codegen.

Usage

#include <bcnp/dispatcher.h>
#include <bcnp/message_types.h>

bcnp::PacketDispatcher dispatcher;
bcnp::MessageQueue<bcnp::DriveCmd> driveQueue;

dispatcher.RegisterHandler<bcnp::DriveCmd>([&](const bcnp::PacketView& pkt) {
    for (auto it = pkt.begin_as<bcnp::DriveCmd>(); it != pkt.end_as<bcnp::DriveCmd>(); ++it) {
        driveQueue.Push(*it);
    }
});

Installation

Add as CMake subdirectory:

set(BCNP_SCHEMA_FILE "${CMAKE_SOURCE_DIR}/src/messages.json" CACHE FILEPATH "")
add_subdirectory(libraries/BCNP)
target_link_libraries(robot PRIVATE bcnp_core)

Or include src/bcnp/ directly and run codegen manually:

python schema/bcnp_codegen.py messages.json --cpp generated --python examples

Requirements

• C++17
• Python 3.x (for codegen)

Documentation

Document	Description
protocol.md	Wire format specification
schema/schema.md	Schema format and codegen

License

MIT