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defs.h File

Point One FusionEngine output message common definitions. More...

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#include <cmath> #include <cstdint> #include <string> #include "point_one/fusion_engine/common/portability.h" #include "point_one/fusion_engine/messages/signal_defs.h"

Namespaces Index​

namespacepoint_one

GNSS signal and frequency type definitions. More...

namespacefusion_engine
namespacemessages

Classes Index​

structMessageHeader

The header present at the beginning of every message. More...

structMessagePayload

The base class for all message payloads. More...

structTimestamp

Generic timestamp representation. More...

Description​

Point One FusionEngine output message common definitions.

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1/**************************************************************************/ /**
2 * @brief Point One FusionEngine output message common definitions.
3 * @file
4 ******************************************************************************/
5
6#pragma once
7
8#include <cmath> // For NAN
9#include <cstdint>
10#include <string>
11
12#include "point_one/fusion_engine/common/portability.h"
13#include "point_one/fusion_engine/messages/signal_defs.h"
14
15namespace point_one {
16namespace fusion_engine {
17namespace messages {
18
19// Enforce 4-byte alignment and packing of all data structures and values.
20// Floating point values are aligned on platforms that require it. This is done
21// with a combination of setting struct attributes, and manual alignment
22// within the definitions. See the "Message Packing" section of the README.
23#pragma pack(push, 1)
24
25/**
26 * @defgroup enum_definitions Common Enumeration Definitions
27 * @{
28 */
29
30/**
31 * @brief Identifiers for the defined output message types.
32 * @ingroup messages
33 */
34enum class MessageType : uint16_t {
35 INVALID = 0, ///< Invalid message type
36
37 // Navigation solution messages.
38 POSE = 10000, ///< @ref PoseMessage
39 GNSS_INFO = 10001, ///< @ref GNSSInfoMessage
40 GNSS_SATELLITE = 10002, ///< @ref GNSSSatelliteMessage
41 POSE_AUX = 10003, ///< @ref PoseAuxMessage
42 CALIBRATION_STATUS = 10004, ///< @ref CalibrationStatusMessage
43 RELATIVE_ENU_POSITION = 10005, ///< @ref RelativeENUPositionMessage
44 GNSS_SIGNALS = 10006, ///< @ref GNSSSignalsMessage
45
46 // Device status messages.
47 SYSTEM_STATUS = 10500, ///< @ref SystemStatusMessage
48
49 // Sensor measurement messages.
50 IMU_OUTPUT = 11000, ///< @ref IMUOutput
51 DEPRECATED_RAW_HEADING_OUTPUT = 11001,
52 RAW_IMU_OUTPUT = 11002, ///< @ref RawIMUOutput
53 DEPRECATED_HEADING_OUTPUT = 11003,
54 IMU_INPUT = 11004, ///< @ref IMUInput
55 GNSS_ATTITUDE_OUTPUT = 11005, ///< @ref GNSSAttitudeOutput
56 RAW_GNSS_ATTITUDE_OUTPUT = 11006, ///< @ref RawGNSSAttitudeOutput
57 EXTERNAL_POSE_INPUT = 11007, ///< @ref ExternalPoseInput
58
59 // Vehicle measurement messages.
60 DEPRECATED_WHEEL_SPEED_MEASUREMENT =
61 11101, ///< @ref DeprecatedWheelSpeedMeasurement
62 DEPRECATED_VEHICLE_SPEED_MEASUREMENT =
63 11102, ///< @ref DeprecatedVehicleSpeedMeasurement
64
65 WHEEL_TICK_INPUT = 11103, ///< @ref WheelTickInput
66 VEHICLE_TICK_INPUT = 11104, ///< @ref VehicleTickInput
67 WHEEL_SPEED_INPUT = 11105, ///< @ref WheelSpeedInput
68 VEHICLE_SPEED_INPUT = 11106, ///< @ref VehicleSpeedInput
69
70 RAW_WHEEL_TICK_OUTPUT = 11123, ///< @ref RawWheelTickOutput
71 RAW_VEHICLE_TICK_OUTPUT = 11124, ///< @ref RawVehicleTickOutput
72 RAW_WHEEL_SPEED_OUTPUT = 11125, ///< @ref RawWheelSpeedOutput
73 RAW_VEHICLE_SPEED_OUTPUT = 11126, ///< @ref RawVehicleSpeedOutput
74
75 WHEEL_SPEED_OUTPUT = 11135, ///< @ref WheelSpeedOutput
76 VEHICLE_SPEED_OUTPUT = 11136, ///< @ref VehicleSpeedOutput
77
78 // ROS messages.
79 ROS_POSE = 12000, ///< @ref ros::PoseMessage
80 ROS_GPS_FIX = 12010, ///< @ref ros::GPSFixMessage
81 ROS_IMU = 12011, ///< @ref ros::IMUMessage
82
83 // Command and control messages.
84 COMMAND_RESPONSE = 13000, ///< @ref CommandResponseMessage
85 MESSAGE_REQUEST = 13001, ///< @ref MessageRequest
86 RESET_REQUEST = 13002, ///< @ref ResetRequest
87 VERSION_INFO = 13003, ///< @ref VersionInfoMessage
88 EVENT_NOTIFICATION = 13004, ///< @ref EventNotificationMessage
89 SHUTDOWN_REQUEST = 13005, ///< @ref ShutdownRequest
90 FAULT_CONTROL = 13006, ///< @ref FaultControlMessage
91 DEVICE_ID = 13007, ///< @ref DeviceIDMessage
92 STARTUP_REQUEST = 13008, ///< @ref StartupRequest
93
94 SET_CONFIG = 13100, ///< @ref SetConfigMessage
95 GET_CONFIG = 13101, ///< @ref GetConfigMessage
96 SAVE_CONFIG = 13102, ///< @ref SaveConfigMessage
97 CONFIG_RESPONSE = 13103, ///< @ref ConfigResponseMessage
98
99 IMPORT_DATA = 13110, ///< @ref ImportDataMessage
100 EXPORT_DATA = 13111, ///< @ref ExportDataMessage
101 PLATFORM_STORAGE_DATA = 13113, ///< @ref PlatformStorageDataMessage
102 INPUT_DATA_WRAPPER = 13120, ///< @ref InputDataWrapperMessage
103
104 SET_MESSAGE_RATE = 13220, ///< @ref SetMessageRate
105 GET_MESSAGE_RATE = 13221, ///< @ref GetMessageRate
106 MESSAGE_RATE_RESPONSE = 13222, ///< @ref MessageRateResponse
107 SUPPORTED_IO_INTERFACES = 13223, ///< @ref SupportedIOInterfacesMessage
108
109 LBAND_FRAME = 14000, ///< @ref LBandFrameMessage
110
111 STA5635_COMMAND = 14100, ///< @ref STA5635Command
112 STA5635_COMMAND_RESPONSE = 14101, ///< @ref STA5635CommandResponse
113 STA5635_IQ_DATA = 14102, ///< @ref STA5635IQData
114
115 /// The maximum defined @ref MessageType enum value.
116 MAX_VALUE = STA5635_IQ_DATA,
117};
118
119/**
120 * @brief Get a human-friendly string name for the specified @ref MessageType.
121 * @ingroup enum_definitions
122 *
123 * @param type The desired message type.
124 *
125 * @return The corresponding string name.
126 */
127P1_CONSTEXPR_FUNC const char* to_string(MessageType type) {
128 switch (type) {
129 case MessageType::INVALID:
130 return "Invalid";
131
132 // Navigation solution messages.
133 case MessageType::POSE:
134 return "Pose";
135
136 case MessageType::GNSS_INFO:
137 return "GNSS Info";
138
139 case MessageType::GNSS_SATELLITE:
140 return "GNSS Satellite";
141
142 case MessageType::POSE_AUX:
143 return "Pose Auxiliary";
144
145 case MessageType::CALIBRATION_STATUS:
146 return "Calibration Status";
147
148 case MessageType::RELATIVE_ENU_POSITION:
149 return "Relative ENU Position";
150
151 case MessageType::GNSS_SIGNALS:
152 return "GNSS Signals";
153
154 // Device status messages.
155 case MessageType::SYSTEM_STATUS:
156 return "System Status";
157
158 // Sensor measurement messages.
159 case MessageType::IMU_OUTPUT:
160 return "IMU Output";
161
162 case MessageType::DEPRECATED_RAW_HEADING_OUTPUT:
163 return "Raw GNSS Heading Output";
164
165 case MessageType::RAW_IMU_OUTPUT:
166 return "Raw IMU Output";
167
168 case MessageType::DEPRECATED_HEADING_OUTPUT:
169 return "GNSS Heading Output";
170
171 case MessageType::IMU_INPUT:
172 return "IMU Input";
173
174 case MessageType::GNSS_ATTITUDE_OUTPUT:
175 return "GNSS Attitude Output";
176
177 case MessageType::RAW_GNSS_ATTITUDE_OUTPUT:
178 return "Raw GNSS Attitude Output";
179
180 case MessageType::EXTERNAL_POSE_INPUT:
181 return "External Pose Input";
182
183 case MessageType::DEPRECATED_WHEEL_SPEED_MEASUREMENT:
184 return "Wheel Speed Measurement";
185
186 case MessageType::DEPRECATED_VEHICLE_SPEED_MEASUREMENT:
187 return "Vehicle Speed Measurement";
188
189 case MessageType::WHEEL_TICK_INPUT:
190 return "Wheel Tick Input";
191
192 case MessageType::VEHICLE_TICK_INPUT:
193 return "Vehicle Tick Input";
194
195 case MessageType::WHEEL_SPEED_INPUT:
196 return "Wheel Speed Input";
197
198 case MessageType::VEHICLE_SPEED_INPUT:
199 return "Vehicle Speed Input";
200
201 case MessageType::RAW_WHEEL_TICK_OUTPUT:
202 return "Raw Wheel Tick Output";
203
204 case MessageType::RAW_VEHICLE_TICK_OUTPUT:
205 return "Raw Vehicle Tick Output";
206
207 case MessageType::RAW_WHEEL_SPEED_OUTPUT:
208 return "Raw Wheel Speed Output";
209
210 case MessageType::RAW_VEHICLE_SPEED_OUTPUT:
211 return "Raw Vehicle Speed Output";
212
213 case MessageType::WHEEL_SPEED_OUTPUT:
214 return "Wheel Speed Output";
215
216 case MessageType::VEHICLE_SPEED_OUTPUT:
217 return "Vehicle Speed Output";
218
219 // ROS messages.
220 case MessageType::ROS_POSE:
221 return "ROS Pose";
222
223 case MessageType::ROS_GPS_FIX:
224 return "ROS GPSFix";
225
226 case MessageType::ROS_IMU:
227 return "ROS IMU";
228
229 // Command and control messages.
230 case MessageType::COMMAND_RESPONSE:
231 return "Command Response";
232
233 case MessageType::MESSAGE_REQUEST:
234 return "Message Transmission Request";
235
236 case MessageType::RESET_REQUEST:
237 return "Reset Request";
238
239 case MessageType::VERSION_INFO:
240 return "Version Information";
241
242 case MessageType::EVENT_NOTIFICATION:
243 return "Event Notification";
244
245 case MessageType::SHUTDOWN_REQUEST:
246 return "Shutdown Request";
247
248 case MessageType::STARTUP_REQUEST:
249 return "Startup Request";
250
251 case MessageType::DEVICE_ID:
252 return "Device ID Information";
253
254 case MessageType::FAULT_CONTROL:
255 return "Fault Control";
256
257 case MessageType::SET_CONFIG:
258 return "Set Configuration Parameter";
259
260 case MessageType::GET_CONFIG:
261 return "Get Configuration Parameter";
262
263 case MessageType::SAVE_CONFIG:
264 return "Save Configuration";
265
266 case MessageType::CONFIG_RESPONSE:
267 return "Configuration Parameter Value";
268
269 case MessageType::SET_MESSAGE_RATE:
270 return "Set Message Rate";
271
272 case MessageType::GET_MESSAGE_RATE:
273 return "Get Message Rate";
274
275 case MessageType::SUPPORTED_IO_INTERFACES:
276 return "Supported IO Interfaces";
277
278 case MessageType::MESSAGE_RATE_RESPONSE:
279 return "Message Rate Response";
280
281 case MessageType::IMPORT_DATA:
282 return "Import Data To Device";
283
284 case MessageType::EXPORT_DATA:
285 return "Export Data From Device";
286
287 case MessageType::PLATFORM_STORAGE_DATA:
288 return "Platform Data Contents";
289
290 case MessageType::INPUT_DATA_WRAPPER:
291 return "Wrapped Input Data";
292
293 case MessageType::LBAND_FRAME:
294 return "L-band Frame Contents";
295
296 case MessageType::STA5635_COMMAND:
297 return "STA5635 Command";
298
299 case MessageType::STA5635_COMMAND_RESPONSE:
300 return "STA5635 Command Response";
301
302 case MessageType::STA5635_IQ_DATA:
303 return "STA5635 IQ Data";
304 }
305 return "Unrecognized Message";
306}
307
308/**
309 * @brief @ref MessageType stream operator.
310 * @ingroup enum_definitions
311 */
312inline p1_ostream& operator<<(p1_ostream& stream, MessageType type) {
313 stream << to_string(type) << " (" << (int)type << ")";
314 return stream;
315}
316
317/**
318 * @brief Check if the specified message type is a user command.
319 * @ingroup messages
320 *
321 * See also @ref IsResponse().
322 *
323 * @param message_type The message type in question.
324 *
325 * @return `true` if the message is a FusionEngine command.
326 */
327P1_CONSTEXPR_FUNC bool IsCommand(MessageType message_type) {
328 switch (message_type) {
329 case MessageType::MESSAGE_REQUEST:
330 case MessageType::RESET_REQUEST:
331 case MessageType::STARTUP_REQUEST:
332 case MessageType::SHUTDOWN_REQUEST:
333 case MessageType::FAULT_CONTROL:
334 case MessageType::SET_CONFIG:
335 case MessageType::GET_CONFIG:
336 case MessageType::SAVE_CONFIG:
337 case MessageType::IMPORT_DATA:
338 case MessageType::EXPORT_DATA:
339 case MessageType::SET_MESSAGE_RATE:
340 case MessageType::GET_MESSAGE_RATE:
341 case MessageType::STA5635_COMMAND:
342 return true;
343
344 case MessageType::INVALID:
345 case MessageType::POSE:
346 case MessageType::GNSS_INFO:
347 case MessageType::GNSS_SATELLITE:
348 case MessageType::POSE_AUX:
349 case MessageType::CALIBRATION_STATUS:
350 case MessageType::RELATIVE_ENU_POSITION:
351 case MessageType::GNSS_SIGNALS:
352 case MessageType::SYSTEM_STATUS:
353 case MessageType::IMU_OUTPUT:
354 case MessageType::DEPRECATED_RAW_HEADING_OUTPUT:
355 case MessageType::RAW_IMU_OUTPUT:
356 case MessageType::DEPRECATED_HEADING_OUTPUT:
357 case MessageType::IMU_INPUT:
358 case MessageType::GNSS_ATTITUDE_OUTPUT:
359 case MessageType::RAW_GNSS_ATTITUDE_OUTPUT:
360 case MessageType::EXTERNAL_POSE_INPUT:
361 case MessageType::DEPRECATED_WHEEL_SPEED_MEASUREMENT:
362 case MessageType::DEPRECATED_VEHICLE_SPEED_MEASUREMENT:
363 case MessageType::WHEEL_TICK_INPUT:
364 case MessageType::VEHICLE_TICK_INPUT:
365 case MessageType::WHEEL_SPEED_INPUT:
366 case MessageType::VEHICLE_SPEED_INPUT:
367 case MessageType::RAW_WHEEL_TICK_OUTPUT:
368 case MessageType::RAW_VEHICLE_TICK_OUTPUT:
369 case MessageType::RAW_WHEEL_SPEED_OUTPUT:
370 case MessageType::RAW_VEHICLE_SPEED_OUTPUT:
371 case MessageType::WHEEL_SPEED_OUTPUT:
372 case MessageType::VEHICLE_SPEED_OUTPUT:
373 case MessageType::ROS_POSE:
374 case MessageType::ROS_GPS_FIX:
375 case MessageType::ROS_IMU:
376 case MessageType::COMMAND_RESPONSE:
377 case MessageType::VERSION_INFO:
378 case MessageType::EVENT_NOTIFICATION:
379 case MessageType::DEVICE_ID:
380 case MessageType::CONFIG_RESPONSE:
381 case MessageType::PLATFORM_STORAGE_DATA:
382 case MessageType::INPUT_DATA_WRAPPER:
383 case MessageType::MESSAGE_RATE_RESPONSE:
384 case MessageType::SUPPORTED_IO_INTERFACES:
385 case MessageType::LBAND_FRAME:
386 case MessageType::STA5635_COMMAND_RESPONSE:
387 case MessageType::STA5635_IQ_DATA:
388 return false;
389 }
390 return false;
391}
392
393/**
394 * @brief Check if the specified message type is a response to a user command.
395 * @ingroup messages
396 *
397 * See also @ref IsCommand().
398 *
399 * @param message_type The message type in question.
400 *
401 * @return `true` if the message is a FusionEngine command response.
402 */
403P1_CONSTEXPR_FUNC bool IsResponse(MessageType message_type) {
404 switch (message_type) {
405 case MessageType::COMMAND_RESPONSE:
406 case MessageType::CONFIG_RESPONSE:
407 case MessageType::MESSAGE_RATE_RESPONSE:
408 case MessageType::STA5635_COMMAND_RESPONSE:
409 return true;
410 default:
411 return false;
412 }
413}
414
415/** @brief Command response status indicators. */
416enum class Response : uint8_t {
417 OK = 0,
418 /**
419 * A version specified in the command or subcommand could not be handled.
420 * This could mean that the version was too new, or it was old and there was
421 * not a translation for it.
422 */
423 UNSUPPORTED_CMD_VERSION = 1,
424 /**
425 * The command interacts with a feature that is not present on the target
426 * device (e.g., Setting the baud rate on a device without a serial port).
427 */
428 UNSUPPORTED_FEATURE = 2,
429 /**
430 * One or more values in the command were not in acceptable ranges (e.g., An
431 * undefined enum value, or an invalid baud rate).
432 */
433 VALUE_ERROR = 3,
434 /**
435 * The command would require adding too many elements to an internal
436 * storage.
437 */
438 INSUFFICIENT_SPACE = 4,
439 /**
440 * There was a runtime failure executing the command.
441 */
442 EXECUTION_FAILURE = 5,
443 /**
444 * The header `payload_size_bytes` is in conflict with the size of the
445 * message based on its type and type specific length fields.
446 */
447 INCONSISTENT_PAYLOAD_LENGTH = 6,
448 /**
449 * Requested data was corrupted and not available.
450 */
451 DATA_CORRUPTED = 7,
452 /**
453 * The requested data isn't available.
454 */
455 NO_DATA_STORED = 8,
456 /**
457 * The device is in a state where it can't process the command.
458 */
459 UNAVAILABLE = 9,
460 /**
461 * An interface specified in the command is invalid, or unsupported on the
462 * target device.
463 */
464 UNSUPPORTED_INTERFACE = 10,
465};
466
467/**
468 * @brief Get a human-friendly string name for the specified @ref Response.
469 *
470 * @param val The enum to get the string name for.
471 *
472 * @return The corresponding string name.
473 */
474P1_CONSTEXPR_FUNC const char* to_string(Response val) {
475 switch (val) {
476 case Response::OK:
477 return "Ok";
478 case Response::UNSUPPORTED_CMD_VERSION:
479 return "Unsupported Command Version";
480 case Response::UNSUPPORTED_FEATURE:
481 return "Unsupported Feature";
482 case Response::VALUE_ERROR:
483 return "Value Error";
484 case Response::INSUFFICIENT_SPACE:
485 return "Insufficient Space";
486 case Response::EXECUTION_FAILURE:
487 return "Execution Failure";
488 case Response::INCONSISTENT_PAYLOAD_LENGTH:
489 return "Inconsistent Payload Length";
490 case Response::DATA_CORRUPTED:
491 return "Data Corrupted";
492 case Response::NO_DATA_STORED:
493 return "No Data Stored";
494 case Response::UNAVAILABLE:
495 return "Device Unavailable";
496 case Response::UNSUPPORTED_INTERFACE:
497 return "Unsupported Interface";
498 }
499 return "Unrecognized";
500}
501
502/**
503 * @brief @ref Response stream operator.
504 */
505inline p1_ostream& operator<<(p1_ostream& stream, Response val) {
506 stream << to_string(val) << " (" << (int)val << ")";
507 return stream;
508}
509
510/**
511 * @brief Navigation solution type definitions.
512 */
513enum class SolutionType : uint8_t {
514 /** Invalid, no position available. */
515 Invalid = 0,
516 /** Standalone GNSS fix, no GNSS corrections data used. */
517 AutonomousGPS = 1,
518 /**
519 * Differential GNSS pseudorange solution using a local RTK base station or
520 * SSR or SBAS corrections.
521 */
522 DGPS = 2,
523 /**
524 * GNSS RTK solution with fixed integer carrier phase ambiguities (one or more
525 * signals fixed).
526 */
527 RTKFixed = 4,
528 /** GNSS RTK solution with floating point carrier phase ambiguities. */
529 RTKFloat = 5,
530 /** Integrated position using dead reckoning. */
531 Integrate = 6,
532 /** Using vision measurements. */
533 Visual = 9,
534 /**
535 * GNSS precise point positioning (PPP) pseudorange/carrier phase solution.
536 */
537 PPP = 10,
538 MAX_VALUE = PPP,
539};
540
541/**
542 * @brief Get a human-friendly string name for the specified @ref SolutionType.
543 * @ingroup enum_definitions
544 *
545 * @param type The desired message type.
546 *
547 * @return The corresponding string name.
548 */
549P1_CONSTEXPR_FUNC const char* to_string(SolutionType type) {
550 switch (type) {
551 case SolutionType::Invalid:
552 return "Invalid";
553
554 case SolutionType::AutonomousGPS:
555 return "Stand Alone GNSS";
556
557 case SolutionType::DGPS:
558 return "Differential GNSS";
559
560 case SolutionType::RTKFixed:
561 return "Fixed RTK GNSS";
562
563 case SolutionType::RTKFloat:
564 return "Real-valued Ambiguity RTK GNSS";
565
566 case SolutionType::Integrate:
567 return "Dead Reckoning";
568
569 case SolutionType::Visual:
570 return "Visual Navigation";
571
572 case SolutionType::PPP:
573 return "PPP GNSS";
574 }
575 return "Unrecognized Solution Type";
576}
577
578/**
579 * @brief @ref SolutionType stream operator.
580 * @ingroup enum_definitions
581 */
582inline p1_ostream& operator<<(p1_ostream& stream, SolutionType type) {
583 stream << to_string(type) << " (" << (int)type << ")";
584 return stream;
585}
586
587/** @} */
588
589/**
590 * @brief Generic timestamp representation.
591 *
592 * This structure may be used to store Point One system time values (referenced
593 * to the start of the device), UNIX times (referenced to January 1, 1970), or
594 * GPS times (referenced to January 6, 1980).
595 */
596struct P1_ALIGNAS(4) Timestamp {
597 static constexpr uint32_t INVALID = 0xFFFFFFFF;
598
599 /**
600 * The number of full seconds since the epoch. Set to @ref INVALID if
601 * the timestamp is invalid or unknown.
602 */
603 uint32_t seconds = INVALID;
604
605 /** The fractional part of the second, expressed in nanoseconds. */
606 uint32_t fraction_ns = INVALID;
607};
608
609/**
610 * @brief The header present at the beginning of every message.
611 * @ingroup messages
612 *
613 * The header is followed immediately in the binary stream by the message
614 * payload specified by @ref message_type.
615 */
616struct P1_ALIGNAS(4) MessageHeader {
617 static constexpr uint8_t SYNC0 = 0x2E; // '.'
618 static constexpr uint8_t SYNC1 = 0x31; // '1'
619
620 static constexpr uint32_t INVALID_SOURCE_ID = 0xFFFFFFFF;
621
622 /**
623 * The maximum expected message size (in bytes), used for sanity checking.
624 */
625 static const size_t MAX_MESSAGE_SIZE_BYTES = (1 << 24);
626
627 /** Message sync bytes: always set to ASCII `.1` (0x2E, 0x31). */
628 uint8_t sync[2] = {SYNC0, SYNC1};
629
630 uint8_t reserved[2] = {0};
631
632 /**
633 * The 32-bit CRC of all bytes from and including the @ref protocol_version
634 * field to the last byte in the message, including the message payload. This
635 * uses the standard CRC-32 generator polynomial in reversed order
636 * (0xEDB88320).
637 *
638 * See also @ref crc_support.
639 */
640 uint32_t crc = 0;
641
642 /** The version of the P1 binary protocol being used. */
643 uint8_t protocol_version = 2;
644
645 /**
646 * The version of the message type specified by @ref message_type to follow.
647 */
648 uint8_t message_version = 0;
649
650 /** Type identifier for the serialized message to follow. */
651 MessageType message_type = MessageType::INVALID;
652
653 /** The sequence number of this message. */
654 uint32_t sequence_number = 0;
655
656 /** The size of the serialized message (bytes). */
657 uint32_t payload_size_bytes = 0;
658
659 /** Identifies the source of the serialized data. */
660 uint32_t source_identifier = INVALID_SOURCE_ID;
661};
662
663/**
664 * @brief Check if the specified message is a user command.
665 * @ingroup messages
666 *
667 * See @ref IsCommand() for details.
668 *
669 * @param header Header of a received FusionEngine message.
670 *
671 * @return `true` if the message is a FusionEngine command.
672 */
673P1_CONSTEXPR_FUNC bool IsCommand(const MessageHeader& header) {
674 return IsCommand(header.message_type);
675}
676
677/**
678 * @brief Check if the specified message type is a response to a user command.
679 * @ingroup messages
680 *
681 * See @ref IsResponse() for details.
682 *
683 * @param header Header of a received FusionEngine message.
684 *
685 * @return `true` if the message is a FusionEngine command response.
686 */
687P1_CONSTEXPR_FUNC bool IsResponse(const MessageHeader& header) {
688 return IsResponse(header.message_type);
689}
690
691/**
692 * @brief The base class for all message payloads.
693 * @ingroup messages
694 */
695struct MessagePayload {
696 // Currently empty - used simply to distinguish between payload definitions
697 // and other types.
698};
699
700#pragma pack(pop)
701
702/**
703 * @defgroup messages Message Definitions
704 * @brief Type definitions for all defined messages.
705 *
706 * See also @ref MessageType.
707 */
708
709} // namespace messages
710} // namespace fusion_engine
711} // namespace point_one

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