Parser Folder
components/driving_board/parser
Message Handling
This page: structure of message encoding andin future message type detection parser contains logic for encoding protobuf messages.parser.c
The encoding logic includes:
copy_motor_to_pb():
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
front_left, back_leftmiddle_left, front_rightback_left, middle_rightfront_right, back_rightmiddle_right, steering_front_leftback_right, steering_back_leftsteering_front_left, steering_front_rightsteering_back_left, steering_back_rightsteering_front_right, steering_back_right,
Each motor is copied using a loop into the protobuf message.
message_add_envelope():
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