added msg type id

Author: serges147

src/common/ipc/channel.hpp

@@ -12,6 +12,7 @@
 #include <nunavut/support/serialization.hpp>
 
 #include <cetl/pf17/cetlpf.hpp>
+#include <libcyphal/common/crc.hpp>
 
 #include <cstddef>
 #include <functional>
@@ -33,11 +34,19 @@ class AnyChannel
     struct Disconnected
     {};
 
-    template <typename Input>
-    using EventVar = cetl::variant<Input, Connected, Disconnected>;
+    template <typename Message>
+    using EventVar = cetl::variant<Message, Connected, Disconnected>;
 
-    template <typename Input>
-    using EventHandler = std::function<void(const EventVar<Input>&)>;
+    template <typename Message>
+    using EventHandler = std::function<void(const EventVar<Message>&)>;
+
+    template <typename Message>
+    static detail::MsgTypeId getTypeId() noexcept
+    {
+        const cetl::string_view          type_name{Message::_traits_::FullNameAndVersion()};
+        const libcyphal::common::CRC64WE crc64{type_name.cbegin(), type_name.cend()};
+        return crc64.get();
+    }
 
 protected:
     AnyChannel() = default;
@@ -57,6 +66,7 @@ class Channel final : public AnyChannel
         : memory_{other.memory_}
         , gateway_{std::move(other.gateway_)}
         , event_handler_{std::move(other.event_handler_)}
+        , output_type_id_{other.output_type_id_}
     {
         setupEventHandler();
     }
@@ -83,7 +93,7 @@ class Channel final : public AnyChannel
             output,
             [this](const auto payload) {
                 //
-                gateway_->send(payload);
+                gateway_->send(output_type_id_, payload);
                 return cetl::nullopt;
             });
     }
@@ -95,6 +105,7 @@ class Channel final : public AnyChannel
         : memory_{memory}
         , gateway_{std::move(gateway)}
         , event_handler_{std::move(event_handler)}
+        , output_type_id_{getTypeId<Output>()}
     {
         CETL_DEBUG_ASSERT(gateway_, "");
         CETL_DEBUG_ASSERT(event_handler_, "");
@@ -139,6 +150,7 @@ class Channel final : public AnyChannel
     cetl::pmr::memory_resource& memory_;
     detail::Gateway::Ptr        gateway_;
     EventHandler                event_handler_;
+    detail::MsgTypeId           output_type_id_;
 
 };  // Channel
 

src/common/ipc/client_router.cpp

@@ -106,11 +106,12 @@ class ClientRouterImpl final : public ClientRouter
             setEventHandler(nullptr);
         }
 
-        void send(const pipe::Payload payload) override
+        void send(const detail::MsgTypeId type_id, const pipe::Payload payload) override
         {
             Route_1_0 route{&router_.memory_};
             auto&     channel_msg = route.set_channel_msg();
             channel_msg.tag       = tag_;
+            channel_msg.type_id   = type_id;
 
             tryPerformOnSerialized(route, [this, payload](const auto prefix) {
                 //

src/common/ipc/gateway.hpp

@@ -24,6 +24,8 @@ namespace ipc
 namespace detail
 {
 
+using MsgTypeId = std::uint64_t;
+
 class Gateway
 {
 public:
@@ -52,9 +54,9 @@ class Gateway
     Gateway& operator=(const Gateway&)     = delete;
     Gateway& operator=(Gateway&&) noexcept = delete;
 
-    virtual void send(const pipe::Payload payload)           = 0;
-    virtual void event(const Event::Var& event)              = 0;
-    virtual void setEventHandler(EventHandler event_handler) = 0;
+    virtual void send(const MsgTypeId type_id, const pipe::Payload payload) = 0;
+    virtual void event(const Event::Var& event)                             = 0;
+    virtual void setEventHandler(EventHandler event_handler)                = 0;
 
 protected:
     Gateway()  = default;