struct-frame 0.7.4

A framework for serializing data with headers

Struct Frame

A multi-language code generation framework that converts Protocol Buffer (.proto) files into serialization/deserialization code for C, C++, TypeScript, Python, and GraphQL. It provides framing and parsing utilities for structured message communication.

Installation

Install from PyPI:

pip install struct-frame

Note: The package is named struct-frame (with hyphen) on PyPI, but the Python module uses an underscore: struct_frame. Use python -m struct_frame to run the code generator.

Quick Start

Basic Usage

# Generate code for Python
python -m struct_frame examples/robot.proto --build_py --py_path generated/py

# Generate code for multiple languages
python -m struct_frame examples/robot.proto --build_c --build_cpp --build_ts --build_py

# Get help
python -m struct_frame --help

For Contributors

If you want to contribute or modify the code generator itself, see the Development Guide for instructions on cloning the repository and setting up a development environment.

Test Suite

The project includes a test suite that validates code generation, compilation, and serialization across all supported languages:

# Run all tests
python test_all.py

# Run with verbose output
python tests/run_tests.py --verbose

# Skip specific languages
python tests/run_tests.py --skip-ts --skip-c --skip-cpp

# Generate code only (no compilation/execution)
python tests/run_tests.py --generate-only

See tests/README.md for detailed test documentation.

Continuous Integration

The project uses GitHub Actions to automatically run the full test suite on:

• Every push to the main branch
• Every pull request targeting the main branch

The CI pipeline:

1. Sets up Python 3.11 and Node.js 20
2. Installs system dependencies (GCC, G++)
3. Installs Python dependencies (proto-schema-parser)
4. Installs Node.js dependencies
5. Runs the complete test suite (python test_all.py)
6. Uploads test artifacts for debugging

You can view test results in the "Actions" tab of the GitHub repository. Test artifacts (generated code and binary files) are available for download for 5 days after each run.

Higher-Level SDK

Struct Frame provides high-level SDKs for simplified message communication:

• TypeScript/JavaScript: Promise-based with UDP, TCP, WebSocket, and Serial transports
• Python: Both sync and async implementations with socket, pyserial, websockets support
• C++: Header-only with observer/subscriber pattern, ideal for embedded systems
• C#: Async/await-based for .NET Core, Xamarin, and MAUI applications

See the SDK Overview for details.

Framing System

Struct Frame provides a message framing system for reliable communication over serial links, network sockets, or any byte stream. Framing solves the fundamental problem of determining where messages begin and end in a continuous data stream.

What is Message Framing?

When sending structured data over a communication channel, you need to:

1. Identify message boundaries - Where does one message end and the next begin?
2. Validate message integrity - Is the received data complete and uncorrupted?
3. Route messages by type - What kind of message is this and how should it be processed?

Struct Frame's framing system addresses these challenges with a cross-platform implementation.

Framing Architecture

The framing system uses a two-level architecture:

1. Frame Type (Framer): Determines the number of start bytes for synchronization

   • Basic: 2 start bytes [0x90] [0x70+PayloadType]
   • Tiny: 1 start byte [0x70+PayloadType]
   • None: 0 start bytes (relies on external synchronization)

2. Payload Type: Defines the header/footer structure after start bytes

   • Minimal, Default, ExtendedMsgIds, ExtendedLength, Extended
   • SysComp, Seq, MultiSystemStream, ExtendedMultiSystemStream

Basic Default Frame Format (Recommended)

The recommended frame format uses a simple but effective structure:

[Start1=0x90] [Start2=0x71] [Length] [Message ID] [Payload Data...] [CRC1] [CRC2]

Frame Components:

• Start Bytes (0x90, 0x71): Synchronization markers to identify frame boundaries
• Length: Payload length (1 byte, up to 255 bytes)
• Message ID: Unique identifier (0-255) that maps to specific message types
• Payload: The actual serialized message data (variable length)
• Fletcher Checksum: 2-byte error detection using Fletcher-16 algorithm

Example Frame Breakdown:

Message: vehicle_heartbeat (ID=42) with 4 bytes of data [0x01, 0x02, 0x03, 0x04]
Frame:   [0x90] [0x71] [0x04] [0x2A] [0x01, 0x02, 0x03, 0x04] [0x7F] [0x8A]
          Start1 Start2  Len   ID=42        Payload Data         Checksum

Available Payload Types

Payload Type	Structure	Overhead	Use Case
Minimal	[MSG_ID] [PACKET]	1	Fixed-size messages, trusted environments
Default	[LEN] [MSG_ID] [PACKET] [CRC]	4	Standard format (recommended)
ExtendedMsgIds	[PKG_ID] [LEN] [MSG_ID] [PACKET] [CRC]	5	Large systems with many message types
ExtendedLength	[LEN16] [MSG_ID] [PACKET] [CRC]	5	Large payloads (up to 64KB)
SysComp	[SYS_ID] [COMP_ID] [LEN] [MSG_ID] [PACKET] [CRC]	6	Multi-vehicle networks
Seq	[SEQ] [LEN] [MSG_ID] [PACKET] [CRC]	5	Packet loss detection
MultiSystemStream	[SEQ] [SYS] [COMP] [LEN] [MSG_ID] [PACKET] [CRC]	7	Multi-vehicle streaming

See Framing Documentation for the complete frame format reference.

Parser State Machine

The frame parser implements a state machine to handle partial data and synchronization recovery:

stateDiagram-v2
    [*] --> LOOKING_FOR_START_BYTE
    LOOKING_FOR_START_BYTE --> GETTING_HEADER: Found 0x90
    GETTING_HEADER --> GETTING_PAYLOAD: Got Message ID
    GETTING_PAYLOAD --> LOOKING_FOR_START_BYTE: Complete Frame
    GETTING_HEADER --> LOOKING_FOR_START_BYTE: Invalid Message ID
    GETTING_PAYLOAD --> LOOKING_FOR_START_BYTE: Checksum Failure

State Descriptions:

• LOOKING_FOR_START_BYTE: Scanning for frame start marker (0x90)
• GETTING_HEADER: Processing message ID and calculating expected frame length
• GETTING_PAYLOAD: Collecting payload data and checksum bytes

This design handles common real-world issues like:

• Partial frame reception (data arrives in chunks)
• Frame corruption (invalid start bytes, checksum mismatches)
• Synchronization loss (automatic recovery when frames are corrupted)

Language-Specific Examples

Python

python -m struct_frame examples/myl_vehicle.proto --build_py
# Use generated Python classes directly

TypeScript

python -m struct_frame examples/myl_vehicle.proto --build_ts
npx tsc examples/index.ts --outDir generated/
node generated/examples/index.js

C

python -m struct_frame examples/myl_vehicle.proto --build_c
gcc examples/main.c -I generated/c -o main
./main

C++

python -m struct_frame examples/myl_vehicle.proto --build_cpp
g++ -std=c++17 examples/main.cpp -I generated/cpp -o main
./main

GraphQL

python -m struct_frame examples/myl_vehicle.proto --build_gql
# Use generated .graphql schema files

Feature Compatibility Matrix

Feature	C	C++	TypeScript	Python	C#	GraphQL	Status
Core Types	✓	✓	✓	✓	✗	✓	Stable
String	✓	✓	✓	✓	✗	✓	Stable
Enums	✓	✓	✓	✓	✗	✓	Stable
Enum Classes	N/A	✓	N/A	N/A	✗	N/A	Stable
Nested Messages	✓	✓	✓	✓	✗	✓	Stable
Message IDs	✓	✓	✓	✓	✗	N/A	Stable
Message Serialization	✓	✓	✓	✓	✗	N/A	Stable
Flatten	N/A	N/A	N/A	✓	✗	✓	Partial
Arrays	✓	✓	Partial	✓	✗	✓	Stable

Legend:

• ✓ - Feature works as documented
• Partial - Basic functionality works, some limitations
• ✗ - Feature not yet available
• N/A - Not applicable for this language

Frame Format and Header Types

Header Structure Details

The BasicDefault frame format (recommended) provides a robust framing protocol:

Header Layout (4 bytes)

Byte 0: Start Byte 1 (0x90)
  - Fixed synchronization marker
  - Allows parser to identify frame boundaries
  - Recovery point after frame corruption

Byte 1: Start Byte 2 (0x71 for Default payload type)
  - Second sync byte encodes payload type
  - 0x70 = Minimal, 0x71 = Default, 0x72 = ExtendedMsgIds, etc.
  - Allows different frame formats on same channel

Byte 2: Length (0x00-0xFF)
  - Payload length in bytes
  - Allows receiver to know frame size

Byte 3: Message ID (0x00-0xFF) 
  - Maps to specific message types in proto definitions
  - Used for routing and deserialization
  - Must match `option msgid = X` in proto message

Footer Layout (2 bytes)

Byte N+4: Fletcher Checksum Byte 1
Byte N+5: Fletcher Checksum Byte 2
  - Fletcher-16 checksum algorithm
  - Calculated over Length + Message ID + Payload
  - Provides error detection for corruption

Frame Size Calculation

Total Frame Size = Header + Payload + Footer

For BasicDefault (recommended):

• Header: 4 bytes (2 start bytes + length + message ID)
• Payload: Variable (depends on message content)
• Footer: 2 bytes (Fletcher checksum)

Example Calculations:

message SimpleHeartbeat {
  option msgid = 1;
  uint32 device_id = 1;    // 4 bytes
  bool alive = 2;          // 1 byte
}
// Total: 4 (header) + 5 (payload) + 2 (footer) = 11 bytes

Framing Compatibility Matrix

Feature	C	C++	TypeScript	Python	C#	Status	Notes
Frame Encoding	✓	✓	✓	✓	✗	Stable	All languages can create frames
Frame Parsing	✓	✓	✓	✓	✗	Stable	State machine implementation
Checksum Validation	✓	✓	✓	✓	✗	Stable	Fletcher-16 algorithm
Sync Recovery	✓	✓	✓	✓	✗	Stable	Auto-recovery from corruption
Partial Frame Handling	✓	✓	✓	✓	✗	Stable	Handles chunked data streams
Message ID Routing	✓	✓	✓	✓	✗	Stable	Automatic message type detection
Buffer Management	✓	✓	✓	✓	✗	Stable	Fixed-size buffers prevent overflow
Cross-Language Compatibility	✓	✓	✓	✓	✗	Stable	Frames interoperate between languages

Extended Frame Format Options

Struct Frame supports multiple frame types and payload types for different use cases:

Frame Types:

• Basic Frame: 2 start bytes (0x90, 0x70+PayloadType) - Recommended for most applications
• Tiny Frame: 1 start byte (0x70+PayloadType) - Constrained environments
• None Frame: 0 start bytes - Trusted point-to-point links

Payload Types:

• Default: Length + Message ID + Payload + CRC - Recommended
• Minimal: Message ID + Payload only - Fixed-size messages
• Extended: Package ID + 2-byte length + Message ID + Payload + CRC - Large systems
• SysComp: System/Component IDs for multi-vehicle networks (MAVLink-style)
• MultiSystemStream: Sequence + SysComp for streaming with loss detection

See Framing Documentation for the complete format reference.

Frame Format Examples and Usage

Frame Breakdown Example

Let's trace through a message encoding and parsing example:

Proto Definition:

message VehicleStatus {
  option msgid = 42;
  uint32 vehicle_id = 1;
  float speed = 2;  
  bool engine_on = 3;
}

Message Data:

vehicle_id = 1234 (0x04D2)    -> [0xD2, 0x04, 0x00, 0x00] (little-endian)
speed = 65.5                  -> [0x00, 0x00, 0x83, 0x42] (IEEE 754 float)  
engine_on = true              -> [0x01]
Total payload: 9 bytes

BasicDefault Frame Structure:

Position: [0]  [1]  [2] [3] [4]  [5]  [6]  [7]  [8]  [9]  [10] [11] [12] [13] [14]
Data:      90   71   09  2A  D2   04   00   00   00   00   83   42   01   7E   C9
           │    │    │   │   └─────── Payload (9 bytes) ──────────────┘   │    │
           │    │    │   └─ Message ID (42 = 0x2A)                        │    │
           │    │    └─ Length (9 = 0x09)                                 │    │
           │    └─ Start Byte 2 (0x71 = Default payload type)             │    │
           └─ Start Byte 1 (0x90)                                         └────┘
                                                                        Checksum

Checksum Calculation (Fletcher-16):

Input: [0x09, 0x2A, 0xD2, 0x04, 0x00, 0x00, 0x00, 0x00, 0x83, 0x42, 0x01]
(calculated over length, message ID, and payload)
Result: [0x7E, 0xC9]

Language-Specific Usage Examples

Python Frame Handling

# Import generated classes  
from myl_vehicle_sf import VehicleStatus
from struct_frame_parser import FrameParser, BasicPacket

# Create message
msg = VehicleStatus()
msg.vehicle_id = 1234
msg.speed = 65.5  
msg.engine_on = True

# Encode to frame
packet = BasicPacket()
frame_bytes = packet.encode_msg(msg)
print(f"Frame: {[hex(b) for b in frame_bytes]}")

# Parse frame (simulate byte-by-byte reception)
parser = FrameParser({0x90: BasicPacket()}, {42: VehicleStatus})
for byte in frame_bytes:
    result = parser.parse_char(byte)
    if result:
        print(f"Parsed: vehicle_id={result.vehicle_id}, speed={result.speed}")

TypeScript Frame Handling

import * as mv from './generated/ts/myl_vehicle.sf';
import { struct_frame_buffer, parse_char } from './generated/ts/struct_frame_parser';

// Create and encode message
let tx_buffer = new struct_frame_buffer(256);
let msg = new mv.VehicleStatus();
msg.vehicle_id = 1234;
msg.speed = 65.5;
msg.engine_on = true;
mv.VehicleStatus_encode(tx_buffer, msg);

// Parse frame  
let rx_buffer = new struct_frame_buffer(256);
for (let i = 0; i < tx_buffer.size; i++) {
  if (parse_char(rx_buffer, tx_buffer.data[i])) {
    let parsed = mv.VehicleStatus_decode(rx_buffer.msg_data);
    console.log(`Parsed: vehicle_id=${parsed.vehicle_id}, speed=${parsed.speed}`);
  }
}

C Frame Handling

#include "myl_vehicle.sf.h"
#include "struct_frame_parser.h"

// Create message
VehicleStatus msg = {0};
msg.vehicle_id = 1234;
msg.speed = 65.5f;
msg.engine_on = true;

// Encode to frame
uint8_t frame_buffer[256];
size_t frame_size = basic_frame_encode(frame_buffer, 42, (uint8_t*)&msg, sizeof(msg));

// Parse frame
packet_state_t parser = {0};
// ... initialize parser ...

for (size_t i = 0; i < frame_size; i++) {
  msg_info_t info = parse_char(&parser, frame_buffer[i]);
  if (info.valid) {
    VehicleStatus* parsed = (VehicleStatus*)info.msg_loc;
    printf("Parsed: vehicle_id=%d, speed=%.1f\n", parsed->vehicle_id, parsed->speed);
  }
}

C++ Frame Handling

#include "myl_vehicle.sf.hpp"
#include "struct_frame.hpp"

// Create message
VehicleStatus msg{};
msg.vehicle_id = 1234;
msg.speed = 65.5f;
msg.engine_on = true;

// Encode to frame
uint8_t frame_buffer[256];
StructFrame::BasicPacket format;
StructFrame::EncodeBuffer encoder(frame_buffer, sizeof(frame_buffer));

bool success = encoder.encode(&format, VEHICLE_STATUS_MSG_ID, &msg, sizeof(msg));

// Parse frame using FrameParser
StructFrame::FrameParser parser(&format, [](size_t msg_id, size_t* size) {
    return StructFrame::get_message_length(msg_id, size);
});

for (size_t i = 0; i < encoder.size(); i++) {
    StructFrame::MessageInfo info = parser.parse_byte(frame_buffer[i]);
    if (info.valid) {
        VehicleStatus* parsed = reinterpret_cast<VehicleStatus*>(info.msg_location);
        std::cout << "Parsed: vehicle_id=" << parsed->vehicle_id 
                  << ", speed=" << parsed->speed << std::endl;
    }
}

Real-World Integration Patterns

Serial Communication

import serial
from struct_frame_parser import FrameParser

# Setup serial connection
ser = serial.Serial('/dev/ttyUSB0', 115200)
parser = FrameParser(packet_formats, message_definitions)

# Continuous parsing loop
while True:
    if ser.in_waiting:
        byte = ser.read(1)[0] 
        result = parser.parse_char(byte)
        if result:
            handle_message(result)

TCP Socket Communication

import * as net from 'net';
import { struct_frame_buffer, parse_char } from './struct_frame_parser';

const client = net.createConnection({port: 8080}, () => {
  console.log('Connected to server');
});

let rx_buffer = new struct_frame_buffer(1024);
client.on('data', (data: Buffer) => {
  for (let byte of data) {
    if (parse_char(rx_buffer, byte)) {
      // Process complete message
      handleMessage(rx_buffer.msg_data);
    }
  }
});

Project Structure

• src/struct_frame/ - Core code generation framework
  • generate.py - Main parser and validation logic
  • *_gen.py - Language-specific code generators
  • boilerplate/ - Runtime libraries for each language
• examples/ - Example .proto files and usage demos
  • main.c - C API demonstration (encoding/decoding, parsing)
  • index.ts - TypeScript API demonstration (similar functionality)
  • *.proto - Protocol Buffer definitions for examples
• generated/ - Output directory for generated code (git-ignored)

Protocol Buffer Schema Reference

Supported Data Types

Type	Size (bytes)	Description	Range/Notes
Integers
int8	1	Signed 8-bit integer	-128 to 127
uint8	1	Unsigned 8-bit integer	0 to 255
int16	2	Signed 16-bit integer	-32,768 to 32,767
uint16	2	Unsigned 16-bit integer	0 to 65,535
int32	4	Signed 32-bit integer	-2.1B to 2.1B
uint32	4	Unsigned 32-bit integer	0 to 4.3B
int64	8	Signed 64-bit integer	Large integers
uint64	8	Unsigned 64-bit integer	Large positive integers
Floating Point
float	4	Single precision (IEEE 754)	7 decimal digits
double	8	Double precision (IEEE 754)	15-17 decimal digits
Other
bool	1	Boolean value	true or false
string	Variable	UTF-8 encoded string	Length-prefixed
EnumType	1	Custom enumeration	Defined in .proto
MessageType	Variable	Nested message	User-defined structure

Note: All types use little-endian byte order for cross-platform compatibility.

Array Support

Arrays (repeated fields) support all data types - primitives, enums, and messages across all target languages.

Array Type	Syntax	Memory Usage	Use Case
Fixed	repeated type field = N [size=X];	sizeof(type) * X	Matrices, buffers (always full)
Bounded	repeated type field = N [max_size=X];	1 byte (count) + sizeof(type) * X	Dynamic lists with limits
String Arrays	repeated string field = N [max_size=X, element_size=Y];	1 byte (count) + X * Y bytes	Text collections with size limits

message ArrayExample {
  repeated float matrix = 1 [size=9];                        // 3x3 matrix (always 9 elements)
  repeated string names = 2 [max_size=10, element_size=32];  // Up to 10 strings, each max 32 chars
  repeated int32 values = 3 [max_size=100];                  // Up to 100 integers (variable count)
}

Generated Output (all languages now supported):

• Python: matrix: list[float], names: list[str], values: list[int]
• C: float matrix[9], struct { uint8_t count; char data[10][32]; } names
• C++: float matrix[9], struct { uint8_t count; char data[10][32]; } names (with enum classes)
• TypeScript: Array('matrix', 'Float32LE', 9), Array('names_data', 'String', 10)
• GraphQL: matrix: [Float!]!, names: [String!]!, values: [Int!]!

Important: String arrays require both max_size (or size) AND element_size parameters because they are "arrays of arrays" - you need to specify both how many strings AND the maximum size of each individual string. This ensures predictable memory layout and prevents buffer overflows.

String Type

Strings are a special case of bounded character arrays with built-in UTF-8 encoding and null-termination handling across all target languages.

String Type	Syntax	Memory Usage	Use Case
Fixed String	string field = N [size=X];	X bytes	Fixed-width text fields
Variable String	string field = N [max_size=X];	1 byte (length) + X bytes	Text with known maximum length

message StringExample {
  string device_name = 1 [size=16];              // Exactly 16 characters (pad with nulls)
  string description = 2 [max_size=256];         // Up to 256 characters (length-prefixed)
  string error_msg = 3 [max_size=128];           // Up to 128 characters for error messages
}

String Features:

• Simplified Schema: No need to specify repeated uint8 for text data
• Automatic Encoding: UTF-8 encoding/decoding handled by generators
• Null Handling: Proper null-termination and padding for fixed strings
• Type Safety: Clear distinction between binary data and text
• Cross-Language: Consistent string handling across C, TypeScript, and Python

Message Options

Message ID (msgid) - Required for serializable messages:

message MyMessage {
  option msgid = 42;  // Must be unique within package (0-65535)
  string content = 1;
}

Field Options

Flatten (flatten=true) - Merge nested message fields into parent:

message Position {
  double lat = 1;
  double lon = 2;
}

message Status {
  Position pos = 1 [flatten=true];  // lat, lon become direct fields  
  float battery = 2;
}

Array Options - Control array behavior:

message Data {
  repeated int32 fixed_buffer = 1 [size=256];                       // Always 256 integers  
  repeated int32 var_buffer = 2 [max_size=256];                     // Up to 256 integers
  repeated string messages = 3 [max_size=10, element_size=64];      // Up to 10 strings, each max 64 chars
  string device_name = 4 [size=32];                                 // Always 32 characters
  string description = 5 [max_size=256];                            // Up to 256 characters
}

Usage Example

package sensor_system;

enum SensorType {
  TEMPERATURE = 0;
  HUMIDITY = 1;
  PRESSURE = 2;
}

message Position {
  double lat = 1;
  double lon = 2;
  float alt = 3;
}

message SensorReading {
  option msgid = 1;
  
  uint32 device_id = 1;
  int64 timestamp = 2;
  SensorType type = 3;
  
  // Device name (fixed 16-character string)  
  string device_name = 4 [size=16];
  
  // Sensor location (flattened)
  Position location = 5 [flatten=true];
  
  // Measurement values (up to 8 readings)
  repeated float values = 6 [max_size=8];
  
  // Calibration matrix (always 3x3 = 9 elements)
  repeated float calibration = 7 [size=9];
  
  // Error message (up to 128 characters)
  string error_msg = 8 [max_size=128];
  
  bool valid = 9;
}

message DeviceStatus {
  option msgid = 2;
  
  uint32 device_id = 1;
  repeated SensorReading recent_readings = 2 [max_size=10];
  float battery_level = 3;
}

Schema Validation Rules

• Message IDs: Must be unique within package (0-65535)
• Field numbers: Must be unique within message
• Array requirements: All repeated fields must specify [size=X] (fixed) or [max_size=X] (bounded)
• String requirements: All string fields must specify [size=X] (fixed) or [max_size=X] (variable)
• String array requirements: repeated string fields must specify both array size AND [element_size=Y]
• Flatten constraints: No field name collisions after flattening
• Size limits: Arrays limited to 255 elements maximum

Code Generation

# Generate all languages
python -m struct_frame schema.proto --build_c --build_cpp --build_ts --build_py --build_gql

# Language-specific paths
python -m struct_frame schema.proto --build_py --py_path output/python/
python -m struct_frame schema.proto --build_c --c_path output/c/
python -m struct_frame schema.proto --build_cpp --cpp_path output/cpp/
python -m struct_frame schema.proto --build_ts --ts_path output/typescript/
python -m struct_frame schema.proto --build_gql --gql_path output/graphql/

C++ Implementation

The C++ implementation provides modern C++ features while maintaining compatibility with the same binary message formats used by the C implementation:

Key Features

• Enum Classes: Enums are generated as strongly-typed enum class types instead of plain enums
• Modern C++ Style: Uses classes, namespaces, templates, and RAII patterns
• Binary Compatibility: Generated structs use the same memory layout as C (via __attribute__((packed)))
• Type Safety: Leverages C++ templates for type-safe message helpers
• STL Integration: Uses standard library features like <cstdint>, <functional>, and <span>

Example

package robot;

enum RobotStatus : uint8_t {
  IDLE = 0;
  MOVING = 1;
  ERROR = 2;
}

message RobotState {
  option msgid = 10;
  uint32 robot_id = 1;
  RobotStatus status = 2;
  float battery_level = 3;
}

Generated C++ Code:

// Enum class instead of plain enum
enum class RobotRobotStatus : uint8_t {
    IDLE = 0,
    MOVING = 1,
    ERROR = 2
};

// Packed struct compatible with C
struct RobotRobotState {
    uint32_t robot_id;
    RobotRobotStatus status;
    float battery_level;
} __attribute__((packed));

constexpr size_t ROBOT_ROBOT_STATE_MAX_SIZE = 9;
constexpr size_t ROBOT_ROBOT_STATE_MSG_ID = 10;

// Helper function in namespace
namespace StructFrame {
inline bool get_message_length(size_t msg_id, size_t* size) {
    switch (msg_id) {
        case ROBOT_ROBOT_STATE_MSG_ID: 
            *size = ROBOT_ROBOT_STATE_MAX_SIZE; 
            return true;
        default: break;
    }
    return false;
}
}  // namespace StructFrame

Usage:

#include "robot.sf.hpp"
#include "struct_frame.hpp"

// Create and initialize message
RobotRobotState state{};
state.robot_id = 123;
state.status = RobotRobotStatus::MOVING;  // Type-safe enum class
state.battery_level = 85.5f;

// Encode with modern C++ API
uint8_t buffer[256];
StructFrame::BasicPacket format;
StructFrame::EncodeBuffer encoder(buffer, sizeof(buffer));

if (encoder.encode(&format, ROBOT_ROBOT_STATE_MSG_ID, &state, sizeof(state))) {
    // Frame encoded successfully
    std::cout << "Encoded " << encoder.size() << " bytes\n";
}

// Parse with lambda callback
StructFrame::FrameParser parser(&format, [](size_t msg_id, size_t* size) {
    return StructFrame::get_message_length(msg_id, size);
});

// Process received bytes
for (size_t i = 0; i < encoder.size(); i++) {
    auto info = parser.parse_byte(buffer[i]);
    if (info.valid) {
        auto* msg = reinterpret_cast<RobotRobotState*>(info.msg_location);
        std::cout << "Robot ID: " << msg->robot_id 
                  << ", Status: " << static_cast<int>(msg->status) << "\n";
    }
}

Wireshark Dissector (Experimental)

An experimental Wireshark Lua dissector is available for protocol analysis and debugging of struct-frame packets. See wireshark/README.md for installation and usage instructions.

Additional Documentation

• Array Implementation Guide - Documentation of array features, syntax, and generated code examples across all languages