Switch parser to self contained task class

modules/control/Firmware/src/Messages/Parser.cpp

@@ -1,58 +1,23 @@
 #include "Parser.h"
+#include <FreeRTOS/Util.h>
+#include <PinMap/PinMap.h>
 #include <etl/vector.h>
 
 message::parser::StateVisitor::StateVisitor(
-    etl::byte_stream_reader &&sreader,
+    message::Message *message,
-    etl::function<void, etl::string_view> invalidCallback,
+    freertos::Queue<LightController::LightAction> &lightActionQueue)
-    etl::function<void, etl::span<const char>> messageLightDataCallback,
+    : stream{message->first.begin(), message->first.size(), etl::endian::big},
-    etl::function<void, etl::span<const char>> messageInfoCallback,
+      message{message}, lightActionQueue{lightActionQueue} {}
-    etl::function<void, etl::span<const char>> messageWarningCallback,
-    etl::function<void, etl::span<const char>> messageErrorCallback,
-    etl::function<void, etl::span<const char>> messageSuccessCallback,
-    etl::function<void, uint32_t> settingsSetBaudCallback,
-    etl::function<void, etl::span<const char>> settingsWifiPasswordCallback,
-    etl::function<void, etl::span<const char>> settingsWifiSSIDCallback,
-    etl::function<void, void> lightControlOnCallback,
-    etl::function<void, void> lightControlOffCallback,
-    etl::function<void, uint8_t> lightControlToggleCallback,
-    etl::function<void, uint8_t> lightControlIncreaseCallback,
-    etl::function<void, uint8_t> lightControlDecreaseCallback,
-    etl::function<void, void> commandRequestLightDataCallback,
-    etl::function<void, void> commandEnterConsoleFlashingCallback,
-    etl::function<void, void> commandExitConsoleFlashingCallback,
-    etl::function<void, void> commandPairBluetoothCallback,
-    etl::function<void, void> commandHelpCallback,
-    etl::function<void, void> commandVersionCallback)
-    : stream{etl::move(sreader)}, invalidCallback{invalidCallback},
-      messageLightDataCallback{messageLightDataCallback},
-      messageInfoCallback{messageInfoCallback},
-      messageWarningCallback{messageWarningCallback},
-      messageErrorCallback{messageErrorCallback},
-      messageSuccessCallback{messageSuccessCallback},
-      settingsSetBaudCallback{settingsSetBaudCallback},
-      settingsWifiPasswordCallback{settingsWifiPasswordCallback},
-      settingsWifiSSIDCallback{settingsWifiSSIDCallback},
-      lightControlOnCallback{lightControlOnCallback},
-      lightControlOffCallback{lightControlOffCallback},
-      lightControlToggleCallback{lightControlToggleCallback},
-      lightControlIncreaseCallback{lightControlIncreaseCallback},
-      lightControlDecreaseCallback{lightControlDecreaseCallback},
-      commandRequestLightDataCallback{commandRequestLightDataCallback},
-      commandEnterConsoleFlashingCallback{commandEnterConsoleFlashingCallback},
-      commandExitConsoleFlashingCallback{commandExitConsoleFlashingCallback},
-      commandPairBluetoothCallback{commandPairBluetoothCallback},
-      commandHelpCallback{commandHelpCallback}, commandVersionCallback{
-                                                    commandVersionCallback} {}
 
 auto message::parser::StateVisitor::operator()(state::ModeSelection) -> State {
   if (!stream.available<uint8_t>()) {
-    invalidCallback("ModeSelection: Stream not available");
+    // invalidCallback("ModeSelection: Stream not available");
     return state::Invalid{};
   }
 
   auto mode = stream.read<uint8_t>();
   if (!mode.has_value()) {
-    invalidCallback("ModeSelection: Mode has no value");
+    // invalidCallback("ModeSelection: Mode has no value");
     return state::Invalid{};
   }
 
@@ -66,20 +31,20 @@ auto message::parser::StateVisitor::operator()(state::ModeSelection) -> State {
   case static_cast<uint8_t>(protocol::Mode::Command):
     return state::Command{};
   default:
-    invalidCallback("ModeSelection: Invalid index");
+    // invalidCallback("ModeSelection: Invalid index");
     return state::Invalid{};
   }
 }
 
 auto message::parser::StateVisitor::operator()(state::Message) -> State {
   if (!stream.available<uint8_t>()) {
-    invalidCallback("Message: Stream not available");
+    // invalidCallback("Message: Stream not available");
     return state::Invalid{};
   }
 
   auto mode = stream.read<uint8_t>();
   if (!mode.has_value()) {
-    invalidCallback("Message: Mode has no value");
+    // invalidCallback("Message: Mode has no value");
     return state::Invalid{};
   }
 
@@ -95,7 +60,7 @@ auto message::parser::StateVisitor::operator()(state::Message) -> State {
   case static_cast<uint8_t>(protocol::Message::Success):
     return state::MessageSuccess{};
   default:
-    invalidCallback("Message: Invalid index");
+    // invalidCallback("Message: Invalid index");
     return state::Invalid{};
   }
 }
@@ -103,84 +68,84 @@ auto message::parser::StateVisitor::operator()(state::Message) -> State {
 auto message::parser::StateVisitor::operator()(state::MessageLightData)
     -> State {
   if (!stream.available<char>()) {
-    invalidCallback("MessageLightData: Stream not available");
+    // invalidCallback("MessageLightData: Stream not available");
     return state::Invalid{};
   }
 
   auto msg = stream.read<char>(stream.available<char>());
   if (!msg.has_value()) {
-    invalidCallback("MessageLightData: Message has no value");
+    // invalidCallback("MessageLightData: Message has no value");
     return state::Invalid{};
   }
-  messageLightDataCallback(msg.value());
+
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::MessageInfo) -> State {
   if (!stream.available<char>()) {
-    invalidCallback("MessageInfo: Stream not available");
+    // invalidCallback("MessageInfo: Stream not available");
     return state::Invalid{};
   }
 
   auto msg = stream.read<char>(stream.available<char>());
   if (!msg.has_value()) {
-    invalidCallback("MessageInfo: Message has no value");
+    // invalidCallback("MessageInfo: Message has no value");
     return state::Invalid{};
   }
-  messageInfoCallback(msg.value());
+
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::MessageWarning) -> State {
   if (!stream.available<char>()) {
-    invalidCallback("MessageWarning: Stream not available");
+    // invalidCallback("MessageWarning: Stream not available");
     return state::Invalid{};
   }
 
   auto msg = stream.read<char>(stream.available<char>());
   if (!msg.has_value()) {
-    invalidCallback("MessageWarning: Message has no value");
+    // invalidCallback("MessageWarning: Message has no value");
     return state::Invalid{};
   }
-  messageWarningCallback(msg.value());
+
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::MessageError) -> State {
   if (!stream.available<char>()) {
-    invalidCallback("MessageError: Stream not available");
+    // invalidCallback("MessageError: Stream not available");
     return state::Invalid{};
   }
 
   auto msg = stream.read<char>(stream.available<char>());
   if (!msg.has_value()) {
-    invalidCallback("MessageError: Message has no value");
+    // invalidCallback("MessageError: Message has no value");
     return state::Invalid{};
   }
-  messageErrorCallback(msg.value());
+
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::MessageSuccess) -> State {
   if (!stream.available<char>()) {
-    invalidCallback("MessageSuccess: Stream not available");
+    // invalidCallback("MessageSuccess: Stream not available");
     return state::Invalid{};
   }
 
   auto msg = stream.read<char>(stream.available<char>());
   if (!msg.has_value()) {
-    invalidCallback("MessageSuccess: Message has no value");
+    // invalidCallback("MessageSuccess: Message has no value");
     return state::Invalid{};
   }
-  messageSuccessCallback(msg.value());
+
   return state::Complete{};
 }
 
 auto message::parser::StateVisitor::operator()(state::Settings) -> State {
   if (!stream.available<uint8_t>()) {
-    invalidCallback("Settings: Stream not available");
+    // invalidCallback("Settings: Stream not available");
     return state::Invalid{};
   }
 
   auto mode = stream.read<uint8_t>();
   if (!mode.has_value()) {
-    invalidCallback("Settings: Mode has no value");
+    // invalidCallback("Settings: Mode has no value");
     return state::Invalid{};
   }
 
@@ -192,69 +157,66 @@ auto message::parser::StateVisitor::operator()(state::Settings) -> State {
   case static_cast<uint8_t>(protocol::Settings::SetWifiSSID):
     return state::SettingsWifiSSID{};
   default:
-    invalidCallback("Settings: Invalid index");
+    // invalidCallback("Settings: Invalid index");
     return state::Invalid{};
   }
 }
 auto message::parser::StateVisitor::operator()(state::SettingsSetBaud)
     -> State {
   if (!stream.available<uint32_t>()) {
-    invalidCallback("Settings: Stream not available");
+    // invalidCallback("Settings: Stream not available");
     return state::Invalid{};
   }
 
   auto baud = stream.read<uint32_t>();
 
   if (!baud.has_value()) {
-    invalidCallback("SettingsSetBaud: Baud has no value");
+    // invalidCallback("SettingsSetBaud: Baud has no value");
     return state::Invalid{};
   }
 
-  settingsSetBaudCallback(baud.value());
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::SettingsWifiPassword)
     -> State {
   if (!stream.available<char>()) {
-    invalidCallback("SettingsWifiPassword: Stream not available");
+    // invalidCallback("SettingsWifiPassword: Stream not available");
     return state::Invalid{};
   }
 
   auto passwd = stream.read<char>(stream.available<char>());
   if (!passwd.has_value()) {
-    invalidCallback("SettingsWifiPassword: Passwd has no value");
+    // invalidCallback("SettingsWifiPassword: Passwd has no value");
     return state::Invalid{};
   }
 
-  settingsWifiPasswordCallback(passwd.value());
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::SettingsWifiSSID)
     -> State {
   if (!stream.available<char>()) {
-    invalidCallback("SettingsWifiSSID: Stream not available");
+    // invalidCallback("SettingsWifiSSID: Stream not available");
     return state::Invalid{};
   }
 
   auto ssid = stream.read<char>(stream.available<char>());
   if (!ssid.has_value()) {
-    invalidCallback("SettingsWifiSSID: SSID has no value");
+    // invalidCallback("SettingsWifiSSID: SSID has no value");
     return state::Invalid{};
   }
 
-  settingsWifiSSIDCallback(ssid.value());
   return state::Complete{};
 }
 
 auto message::parser::StateVisitor::operator()(state::LightControl) -> State {
   if (!stream.available<uint8_t>()) {
-    invalidCallback("LightControl: Stream not available");
+    // invalidCallback("LightControl: Stream not available");
     return state::Invalid{};
   }
 
   auto mode = stream.read<uint8_t>();
   if (!mode.has_value()) {
-    invalidCallback("LightControl: Mode has no value");
+    // invalidCallback("LightControl: Mode has no value");
     return state::Invalid{};
   }
 
@@ -270,83 +232,92 @@ auto message::parser::StateVisitor::operator()(state::LightControl) -> State {
   case static_cast<uint8_t>(protocol::LightControl::Decrease):
     return state::LightControlDecrease{};
   default:
-    invalidCallback("LightControl: Invalid index");
+    // invalidCallback("LightControl: Invalid index");
     return state::Invalid{};
   }
 }
 
 auto message::parser::StateVisitor::operator()(state::LightControlOn) -> State {
   if (stream.available_bytes() > 0) {
-    invalidCallback("LightControlOn: Too many bytes left");
+    // invalidCallback("LightControlOn: Too many bytes left");
     return state::Invalid{};
   }
-  lightControlOnCallback();
+
+  message->second.give();
+  Serial.println("ON");
+  lightActionQueue.push({LightController::LightActionType::ON, etl::nullopt});
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::LightControlOff)
     -> State {
   if (stream.available_bytes() > 0) {
-    invalidCallback("LightControlOff: Too many bytes left");
+    // invalidCallback("LightControlOff: Too many bytes left");
     return state::Invalid{};
   }
-  lightControlOffCallback();
+
+  message->second.give();
+  Serial.println("OFF");
+  lightActionQueue.push({LightController::LightActionType::OFF, etl::nullopt});
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::LightControlToggle)
     -> State {
   if (stream.available_bytes() > 1) {
-    invalidCallback("LightControlToggle: Too many bytes left");
+    // invalidCallback("LightControlToggle: Too many bytes left");
     return state::Invalid{};
   } else if (!stream.available<uint8_t>()) {
-    invalidCallback("LightControlToggle: Stream not available");
+    // invalidCallback("LightControlToggle: Stream not available");
     return state::Invalid{};
   }
 
   auto id = stream.read<uint8_t>();
-
+  message->second.give();
-  lightControlToggleCallback(id.value());
+  Serial.println("Toggle");
+  lightActionQueue.push({LightController::LightActionType::TOGGLE, id});
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::LightControlIncrease)
     -> State {
   if (stream.available_bytes() > 1) {
-    invalidCallback("LightControlIncrease: Too many bytes left");
+    // invalidCallback("LightControlIncrease: Too many bytes left");
     return state::Invalid{};
   } else if (!stream.available<uint8_t>()) {
-    invalidCallback("LightControlIncrease: Stream not available");
+    // invalidCallback("LightControlIncrease: Stream not available");
     return state::Invalid{};
   }
 
   auto id = stream.read<uint8_t>();
-
+  message->second.give();
-  lightControlIncreaseCallback(id.value());
+  Serial.println("Increase");
+  lightActionQueue.push({LightController::LightActionType::INCREASE, id});
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::LightControlDecrease)
     -> State {
   if (stream.available_bytes() > 1) {
-    invalidCallback("LightControlDecrease: Too many bytes left");
+    // invalidCallback("LightControlDecrease: Too many bytes left");
     return state::Invalid{};
   } else if (!stream.available<uint8_t>()) {
-    invalidCallback("LightControlDecrease: Stream not available");
+    // invalidCallback("LightControlDecrease: Stream not available");
     return state::Invalid{};
   }
 
   auto id = stream.read<uint8_t>();
-
+  message->second.give();
-  lightControlDecreaseCallback(id.value());
+  Serial.println("Decrease");
+  lightActionQueue.push({LightController::LightActionType::DECREASE, id});
   return state::Complete{};
 }
 
 auto message::parser::StateVisitor::operator()(state::Command) -> State {
   if (!stream.available<uint8_t>()) {
-    invalidCallback("Command: Stream not available");
+    // invalidCallback("Command: Stream not available");
     return state::Invalid{};
   }
 
   auto mode = stream.read<uint8_t>();
   if (!mode.has_value()) {
-    invalidCallback("Command: Mode has no value");
+    // invalidCallback("Command: Mode has no value");
     return state::Invalid{};
   }
 
@@ -364,58 +335,56 @@ auto message::parser::StateVisitor::operator()(state::Command) -> State {
   case static_cast<uint8_t>(protocol::Command::Version):
     return state::CommandVersion{};
   default:
-    invalidCallback("Command: Invalid index");
+    // invalidCallback("Command: Invalid index");
     return state::Invalid{};
   }
 }
 auto message::parser::StateVisitor::operator()(state::CommandRequestLightData)
     -> State {
-  commandRequestLightDataCallback();
+
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(
     state::CommandEnterConsoleFlashing) -> State {
   if (stream.available_bytes() > 0) {
-    invalidCallback("CommandEnterConsoleFlashing: Too many bytes left");
+    // invalidCallback("CommandEnterConsoleFlashing: Too many bytes left");
     return state::Invalid{};
   }
-  commandEnterConsoleFlashingCallback();
+
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(
     state::CommandExitConsoleFlashing) -> State {
   if (stream.available_bytes() > 0) {
-    invalidCallback("CommandExitConsoleFlashing: Too many bytes left");
+    // invalidCallback("CommandExitConsoleFlashing: Too many bytes left");
     return state::Invalid{};
   }
-  commandExitConsoleFlashingCallback();
+
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::CommandPairBluetooth)
     -> State {
   if (stream.available_bytes() > 0) {
-    invalidCallback("CommandPairBluetooth: Too many bytes left");
+    // invalidCallback("CommandPairBluetooth: Too many bytes left");
     return state::Invalid{};
   }
-  commandPairBluetoothCallback();
+
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::CommandHelp) -> State {
   if (stream.available_bytes() > 0) {
-    invalidCallback("CommandHelp: Too many bytes left");
+    // invalidCallback("CommandHelp: Too many bytes left");
     return state::Invalid{};
   }
 
-  commandHelpCallback();
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::CommandVersion) -> State {
   if (stream.available_bytes() > 0) {
-    invalidCallback("CommandVersion: Too many bytes left");
+    // invalidCallback("CommandVersion: Too many bytes left");
     return state::Invalid{};
   }
 
-  commandVersionCallback();
   return state::Complete{};
 }
 
@@ -423,55 +392,36 @@ auto message::parser::StateVisitor::operator()(state::Complete) -> State {
   return state::Complete{};
 }
 auto message::parser::StateVisitor::operator()(state::Invalid) -> State {
+  message->second.give();
   return state::Invalid{};
 }
 
 auto message::parser::parse(
-    etl::byte_stream_reader &&reader,
+    message::Message *message,
-    etl::function<void, etl::string_view> invalidCallback,
+    freertos::Queue<LightController::LightAction> &lightActionQueue) -> void {
-    etl::function<void, etl::span<const char>> messageLightDataCallback,
+  StateVisitor visitor{message, lightActionQueue};
-    etl::function<void, etl::span<const char>> messageInfoCallback,
-    etl::function<void, etl::span<const char>> messageWarningCallback,
-    etl::function<void, etl::span<const char>> messageErrorCallback,
-    etl::function<void, etl::span<const char>> messageSuccessCallback,
-    etl::function<void, uint32_t> settingsSetBaudCallback,
-    etl::function<void, etl::span<const char>> settingsWifiPasswordCallback,
-    etl::function<void, etl::span<const char>> settingsWifiSSIDCallback,
-    etl::function<void, void> lightControlOnCallback,
-    etl::function<void, void> lightControlOffCallback,
-    etl::function<void, uint8_t> lightControlToggleCallback,
-    etl::function<void, uint8_t> lightControlIncreaseCallback,
-    etl::function<void, uint8_t> lightControlDecreaseCallback,
-    etl::function<void, void> commandRequestLightDataCallback,
-    etl::function<void, void> commandEnterConsoleFlashingCallback,
-    etl::function<void, void> commandExitConsoleFlashingCallback,
-    etl::function<void, void> commandPairBluetoothCallback,
-    etl::function<void, void> commandHelpCallback,
-    etl::function<void, void> commandVersionCallback) -> void {
-  StateVisitor visitor{etl::move(reader),
-                       invalidCallback,
-                       messageLightDataCallback,
-                       messageInfoCallback,
-                       messageWarningCallback,
-                       messageErrorCallback,
-                       messageSuccessCallback,
-                       settingsSetBaudCallback,
-                       settingsWifiPasswordCallback,
-                       settingsWifiSSIDCallback,
-                       lightControlOnCallback,
-                       lightControlOffCallback,
-                       lightControlToggleCallback,
-                       lightControlIncreaseCallback,
-                       lightControlDecreaseCallback,
-                       commandRequestLightDataCallback,
-                       commandEnterConsoleFlashingCallback,
-                       commandExitConsoleFlashingCallback,
-                       commandPairBluetoothCallback,
-                       commandHelpCallback,
-                       commandVersionCallback};
   State state{state::ModeSelection{}};
   while (!etl::holds_alternative<state::Invalid>(state) &&
          !etl::holds_alternative<state::Complete>(state)) {
     state = etl::visit(visitor, state);
   }
 }
+
+message::parser::Parser::Parser(
+    freertos::Queue<LightController::LightAction> &lightActionQueue,
+    UBaseType_t queueCapacity, UBaseType_t priority, BaseType_t coreID)
+    : parserTask{exec,  "parse received data", stackDepth, this, priority,
+                 coreID},
+      messages{queueCapacity}, lightActionQueue{lightActionQueue} {}
+
+void message::parser::Parser::exec(void *parserPtr) {
+  Parser *parser = static_cast<Parser *>(parserPtr);
+
+  while (true) {
+    auto message = parser->messages.pop();
+    Serial.println("starting parse");
+    if (message.has_value()) {
+      parse(message.value(), parser->lightActionQueue);
+    }
+  }
+}

modules/control/Firmware/src/Messages/Parser.h

@@ -1,5 +1,9 @@
 #pragma once
 #include "Protocol.h"
+#include <FreeRTOS/Queue.h>
+#include <FreeRTOS/Task.h>
+#include <LightController/Controller.h>
+#include <Messages/Message.h>
 #include <etl/byte_stream.h>
 #include <etl/function.h>
 #include <etl/span.h>
@@ -49,53 +53,13 @@ using State = etl::variant<
     state::CommandExitConsoleFlashing, state::CommandPairBluetooth,
     state::CommandHelp, state::CommandVersion, state::Complete>;
 
-void parse(
+void parse(message::Message *message,
-    etl::byte_stream_reader &&reader,
+           freertos::Queue<LightController::LightAction> &lightActionQueue);
-    etl::function<void, etl::string_view> invalidCallback,
-    etl::function<void, etl::span<const char>> messageLightDataCallback,
-    etl::function<void, etl::span<const char>> messageInfoCallback,
-    etl::function<void, etl::span<const char>> messageWarningCallback,
-    etl::function<void, etl::span<const char>> messageErrorCallback,
-    etl::function<void, etl::span<const char>> messageSuccessCallback,
-    etl::function<void, uint32_t> settingsSetBaudCallback,
-    etl::function<void, etl::span<const char>> settingsWifiPasswordCallback,
-    etl::function<void, etl::span<const char>> settingsWifiSSIDCallback,
-    etl::function<void, void> lightControlOnCallback,
-    etl::function<void, void> lightControlOffCallback,
-    etl::function<void, uint8_t> lightControlToggleCallback,
-    etl::function<void, uint8_t> lightControlIncreaseCallback,
-    etl::function<void, uint8_t> lightControlDecreaseCallback,
-    etl::function<void, void> commandRequestLightDataCallback,
-    etl::function<void, void> commandEnterConsoleFlashingCallback,
-    etl::function<void, void> commandExitConsoleFlashingCallback,
-    etl::function<void, void> commandPairBluetoothCallback,
-    etl::function<void, void> commandHelpCallback,
-    etl::function<void, void> commandVersionCallback);
 
 class StateVisitor {
 public:
-  StateVisitor(
+  StateVisitor(message::Message *message,
-      etl::byte_stream_reader &&sreader,
+               freertos::Queue<LightController::LightAction> &lightActionQueue);
-      etl::function<void, etl::string_view> invalidCallback,
-      etl::function<void, etl::span<const char>> messageLightDataCallback,
-      etl::function<void, etl::span<const char>> messageInfoCallback,
-      etl::function<void, etl::span<const char>> messageWarningCallback,
-      etl::function<void, etl::span<const char>> messageErrorCallback,
-      etl::function<void, etl::span<const char>> messageSuccessCallback,
-      etl::function<void, uint32_t> settingsSetBaudCallback,
-      etl::function<void, etl::span<const char>> settingsWifiPasswordCallback,
-      etl::function<void, etl::span<const char>> settingsWifiSSIDCallback,
-      etl::function<void, void> lightControlOnCallback,
-      etl::function<void, void> lightControlOffCallback,
-      etl::function<void, uint8_t> lightControlToggleCallback,
-      etl::function<void, uint8_t> lightControlIncreaseCallback,
-      etl::function<void, uint8_t> lightControlDecreaseCallback,
-      etl::function<void, void> commandRequestLightDataCallback,
-      etl::function<void, void> commandEnterConsoleFlashingCallback,
-      etl::function<void, void> commandExitConsoleFlashingCallback,
-      etl::function<void, void> commandPairBluetoothCallback,
-      etl::function<void, void> commandHelpCallback,
-      etl::function<void, void> commandVersionCallback);
   State operator()(state::ModeSelection);
   State operator()(state::Message);
   State operator()(state::MessageLightData);
@@ -128,27 +92,22 @@ public:
 
 private:
   etl::byte_stream_reader stream;
-  // TODO: callback function parameter types
+  message::Message *message;
-  etl::function<void, etl::string_view> invalidCallback;
+  freertos::Queue<LightController::LightAction> &lightActionQueue;
-  etl::function<void, etl::span<const char>> messageLightDataCallback;
+};
-  etl::function<void, etl::span<const char>> messageInfoCallback;
+
-  etl::function<void, etl::span<const char>> messageWarningCallback;
+class Parser {
-  etl::function<void, etl::span<const char>> messageErrorCallback;
+public:
-  etl::function<void, etl::span<const char>> messageSuccessCallback;
+  Parser(freertos::Queue<LightController::LightAction> &lightActionQueue,
-  etl::function<void, uint32_t> settingsSetBaudCallback;
+         UBaseType_t queueCapacity, UBaseType_t priority, BaseType_t coreID);
-  etl::function<void, etl::span<const char>> settingsWifiPasswordCallback;
+  freertos::Queue<message::Message *> &getMessageQueue() { return messages; }
-  etl::function<void, etl::span<const char>> settingsWifiSSIDCallback;
+
-  etl::function<void, void> lightControlOnCallback;
+private:
-  etl::function<void, void> lightControlOffCallback;
+  static void exec(void *parserPtr);
-  etl::function<void, uint8_t> lightControlToggleCallback;
+  freertos::Task parserTask;
-  etl::function<void, uint8_t> lightControlIncreaseCallback;
+  static const uint32_t stackDepth = 2048;
-  etl::function<void, uint8_t> lightControlDecreaseCallback;
+  freertos::Queue<message::Message *> messages;
-  etl::function<void, void> commandRequestLightDataCallback;
+  freertos::Queue<LightController::LightAction> &lightActionQueue;
-  etl::function<void, void> commandEnterConsoleFlashingCallback;
-  etl::function<void, void> commandExitConsoleFlashingCallback;
-  etl::function<void, void> commandPairBluetoothCallback;
-  etl::function<void, void> commandHelpCallback;
-  etl::function<void, void> commandVersionCallback;
 };
 } // namespace parser
 } // namespace message