MessageParser Class Reference

Parses binary TinyRobotics messages from a Stream and dispatches them by type. More...

#include <MessageParser.h>

Public Member Functions
bool	parse (Stream &io, ParsedMessage &result)
bool	parse (Stream &io, MessageHandler &handler)
	Parses a message from the stream and dispatches it to the given handler.
bool	parse (uint8_t *data, size_t len, MessageHandler &handler)
	Parses a message from a raw buffer and dispatches it to the given handler.

Detailed Description

Parses binary TinyRobotics messages from a Stream and dispatches them by type.

MessageParser provides two main interfaces:

1. parse(Stream&, ParsedMessage&):
   • Parses a message from the stream and fills a ParsedMessage union with the correct type.
   • The caller can inspect parsed.type and access the appropriate union member.
2. parse(Stream&, MessageHandler&):
   • Parses a message from the stream and automatically dispatches it to the correct onMessage() overload of the provided MessageHandler instance.
   • This is convenient for direct message handling without manual type inspection.

The parser reads the message header (prefix, size, origin_id), then inspects the content field to determine the value type (float, Coordinate<float>, GPSCoordinate). It then reads the value and remaining fields accordingly.

Usage (manual type inspection):

MessageParser parser;
ParsedMessage parsed;
if (parser.parse(stream, parsed)) {
  switch (parsed.type) { ... }
}

Usage (automatic dispatch):

MessageParser parser;
parser.parse(stream, handler); // handler is a MessageHandler subclass

Member Function Documentation

parse() [1/2]

bool parse ( Stream &  io, MessageHandler &  handler  )

inline

Parses a message from the stream and dispatches it to the given handler.

This method parses the message type and calls the appropriate onMessage overload on the provided MessageHandler instance.

Parameters

io	The input stream to parse from.
handler	The MessageHandler to dispatch the parsed message to.

Returns

true if a message was successfully parsed and dispatched, false otherwise.

parse() [2/2]

bool parse ( uint8_t *  data, size_t  len, MessageHandler &  handler  )

inline

Parses a message from a raw buffer and dispatches it to the given handler.

This overload wraps the buffer in a MemoryStream and calls the Stream-based parse.

Parameters

data	Pointer to the message buffer.
len	Length of the buffer.
handler	The MessageHandler to dispatch the parsed message to.

Returns

true if a message was successfully parsed and dispatched, false otherwise.

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The documentation for this class was generated from the following file:

• src/TinyRobotics/communication/MessageParser.h