code: def dispatch(msg, table=_SBP_TABLE):
    
    try:
      return table[msg.msg_type](msg)
    except KeyError:
      warn = "No message found for msg_type id %d for msg %s." \
             % (msg.msg_type, msg)
      warnings.warn(warn, RuntimeWarning)
      return msg
    except FormatFieldError:
      warnings.warn("SBP payload deserialization error! 0x%x" % msg.msg_type,
                    RuntimeWarning)
      return msg
docs: Dispatch an SBP message type based on its `msg_type` and parse its
    payload.
  
    Parameters
    ----------
    driver : :class:`SBP`
      A parsed SBP object.
    table : dict
      Any table mapping unique SBP message type IDs to SBP message
      constructors.
  
    Returns
    ----------
    SBP message with a parsed payload.