Parser Folder

components/driving_board/parser

Message Handling

This page: structure of message encoding and future message type detection parser contains logic for encoding protobuf messages.

 The encoding logic includes:

copy_motor_to_pb(): Copies each motor from internal MotorDiagnostic struct into protobuf MotorInformation.

DBMDiagnosticsEncode(): Encodes full diagnostics data into a protobuf message.

This function: Initializes the protobuf message Copies board state Copies all 10 motors into the protobuf structure Calls pb_message_encode to serialize data The diagnostics message contains 10 motors: front_left middle_left back_left front_right middle_right back_right steering_front_left steering_back_left steering_front_right steering_back_right Each motor is copied using a loop into the protobuf message.

message_add_envelope

This method wraps a protobuf message into a PBEnvelope using the same pb_message_encode function. It: Takes a populated protobuf message (e.g. DrivingBoardDiagnostics) Initializes a PBEnvelope Sets the correct oneof field (e.g. drive_diag) Calls pb_message_encode on the envelope struct Returns encoded envelope buffer and length