Sensor Measurement Message Definitions

Measurement data from available sensors. More...

Classes Index

struct	DeprecatedVehicleSpeedMeasurement
	(Deprecated) Vehicle body speed measurement (MessageType::DEPRECATED_VEHICLE_SPEED_MEASUREMENT, version 1). More...
struct	DeprecatedWheelSpeedMeasurement
	(Deprecated) Differential wheel speed measurement (MessageType::DEPRECATED_WHEEL_SPEED_MEASUREMENT, version 1). More...
struct	GNSSAttitudeOutput
	Multi-antenna GNSS attitude sensor measurement output with offset corrections applied (MessageType::GNSS_ATTITUDE_OUTPUT, version 1). More...
struct	IMUInput
	IMU sensor measurement input (MessageType::IMU_INPUT, version 1). More...
struct	IMUOutput
	IMU sensor measurement output with calibration and corrections applied (MessageType::IMU_OUTPUT, version 1). More...
struct	InputDataWrapperMessage
	A block of incoming sensor data whose definition depends on the value of @ ref data_type. More...
struct	MeasurementDetails
	The time of applicability and additional information for an incoming sensor measurement. More...
struct	RawGNSSAttitudeOutput
	Raw (uncorrected) GNSS attitude sensor measurement output (MessageType::RAW_GNSS_ATTITUDE_OUTPUT, version 1). More...
struct	RawIMUOutput
	Raw (uncorrected) IMU sensor measurement output (MessageType::RAW_IMU_OUTPUT, version 1). More...
struct	RawVehicleSpeedOutput
	Raw (uncorrected) vehicle body speed measurement output (MessageType::RAW_VEHICLE_SPEED_OUTPUT, version 1). More...
struct	RawVehicleTickOutput
	Raw (uncorrected) single wheel encoder tick output (MessageType::RAW_VEHICLE_TICK_OUTPUT, version 1). More...
struct	RawWheelSpeedOutput
	Raw (uncorrected) dfferential wheel speed measurement output (MessageType::RAW_WHEEL_SPEED_OUTPUT, version 1). More...
struct	RawWheelTickOutput
	Raw (uncorrected) dfferential wheel encoder tick output (MessageType::RAW_WHEEL_TICK_OUTPUT, version 1). More...
struct	VehicleSpeedInput
	Vehicle body speed measurement input (MessageType::VEHICLE_SPEED_INPUT, version 1). More...
struct	VehicleSpeedOutput
	Vehicle body speed measurement output with calibration and corrections applied (MessageType::VEHICLE_SPEED_OUTPUT, version 1). More...
struct	VehicleTickInput
	Single wheel encoder tick input, representing vehicle body speed (MessageType::VEHICLE_TICK_INPUT, version 1). More...
struct	WheelSpeedInput
	Differential wheel speed measurement input (MessageType::WHEEL_SPEED_INPUT, version 1). More...
struct	WheelSpeedOutput
	Differential wheel speed measurement output with calibration and corrections applied (MessageType::WHEEL_SPEED_OUTPUT, version 1). More...
struct	WheelTickInput
	Differential wheel encoder tick input (MessageType::WHEEL_TICK_INPUT, version 1). More...

Enumerations Index

enum class	GearType : uint8_t { ... }
	The current transmission gear used by the vehicle. More...
enum class	SensorDataSource : uint8_t { ... }
	The source of received sensor measurements, if known. More...
enum class	SystemTimeSource : uint8_t { ... }
	The source of a point_one::fusion_engine::messages::Timestamp used to represent the time of applicability of an incoming sensor measurement. More...

Operators Index

p1_ostream &	operator<< (p1_ostream &stream, DeviceType val)
	DeviceType stream operator. More...
p1_ostream &	operator<< (p1_ostream &stream, GearType val)
	GearType stream operator. More...
p1_ostream &	operator<< (p1_ostream &stream, SensorDataSource val)
	SensorDataSource stream operator. More...
p1_ostream &	operator<< (p1_ostream &stream, SystemTimeSource val)
	SystemTimeSource stream operator. More...

Functions Index

P1_CONSTEXPR_FUNC const char *	to_string (GearType val)
	Get a human-friendly string name for the specified GearType. More...
P1_CONSTEXPR_FUNC const char *	to_string (SensorDataSource val)
	Get a human-friendly string name for the specified SensorDataSource. More...
P1_CONSTEXPR_FUNC const char *	to_string (SystemTimeSource val)
	Get a human-friendly string name for the specified SystemTimeSource. More...

Description

Measurement data from available sensors.

See also Message Definitions.

Enumerations

GearType

enum class point_one::fusion_engine::messages::GearType : uint8_t

strong

The current transmission gear used by the vehicle.

Enumeration values

UNKNOWN	The transmission gear is not known, or does not map to a supported GearType (= 0)
FORWARD	The vehicle is in a forward gear (= 1)
REVERSE	The vehicle is in reverse (= 2)
PARK	The vehicle is parked (= 3)
NEUTRAL	The vehicle is in neutral (= 4)

Definition at line 365 of file measurements.h.

365enum class GearType : uint8_t {

366 /**

367 * The transmission gear is not known, or does not map to a supported

368 * GearType.

369 */

370 UNKNOWN = 0,

371 FORWARD = 1, ///< The vehicle is in a forward gear.

372 REVERSE = 2, ///< The vehicle is in reverse.

373 PARK = 3, ///< The vehicle is parked.

374 NEUTRAL = 4, ///< The vehicle is in neutral.

375};

SensorDataSource

enum class point_one::fusion_engine::messages::SensorDataSource : uint8_t

strong

The source of received sensor measurements, if known.

Enumeration values

UNKNOWN	Data source not known (= 0)
INTERNAL	Sensor data captured internal to the device (embedded IMU, GNSS receiver, etc.) (= 1)
HARDWARE_IO	Sensor data generated via hardware voltage signal (wheel tick, external event, etc.) (= 2)
CAN	Sensor data captured from a vehicle CAN bus (= 3)
SERIAL	Sensor data provided over a serial connection (= 4)
NETWORK	Sensor data provided over a network connection (= 5)

Definition at line 33 of file measurements.h.

33enum class SensorDataSource : uint8_t {

34 /** Data source not known. */

35 UNKNOWN = 0,

36 /**

37 * Sensor data captured internal to the device (embedded IMU, GNSS receiver,

38 * etc.).

39 */

40 INTERNAL = 1,

41 /**

42 * Sensor data generated via hardware voltage signal (wheel tick, external

43 * event, etc.).

44 */

45 HARDWARE_IO = 2,

46 /** Sensor data captured from a vehicle CAN bus. */

47 CAN = 3,

48 /** Sensor data provided over a serial connection. */

49 SERIAL = 4,

50 /** Sensor data provided over a network connection. */

51 NETWORK = 5,

52};

SystemTimeSource

enum class point_one::fusion_engine::messages::SystemTimeSource : uint8_t

strong

The source of a point_one::fusion_engine::messages::Timestamp used to represent the time of applicability of an incoming sensor measurement.

Enumeration values

INVALID	Timestamp not valid (= 0)
P1_TIME	Message timestamped in P1 time (= 1)
TIMESTAMPED_ON_RECEPTION	Message timestamped in system time, generated when received by the device (= 2)
SENDER_SYSTEM_TIME	Message timestamp was generated from a monotonic clock of an external system (= 3)
GPS_TIME	Message timestamped in GPS time, referenced to 1980/1/6 (= 4)

Definition at line 96 of file measurements.h.

96enum class SystemTimeSource : uint8_t {

97 /** Timestamp not valid. */

98 INVALID = 0,

99 /** Message timestamped in P1 time. */

100 P1_TIME = 1,

101 /**

102 * Message timestamped in system time, generated when received by the device.

103 */

104 TIMESTAMPED_ON_RECEPTION = 2,

105 /**

106 * Message timestamp was generated from a monotonic clock of an external

107 * system.

108 */

109 SENDER_SYSTEM_TIME = 3,

110 /**

111 * Message timestamped in GPS time, referenced to 1980/1/6.

112 */

113 GPS_TIME = 4,

114};

Operators

operator<<()

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, DeviceType val)

inline

DeviceType stream operator.

Definition at line 142 of file device.h.

142inline p1_ostream& operator<<(p1_ostream& stream, DeviceType val) {

143 stream << to_string(val) << " (" << (int)val << ")";

144 return stream;

145}

operator<<()

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, GearType val)

inline

GearType stream operator.

Definition at line 405 of file measurements.h.

405inline p1_ostream& operator<<(p1_ostream& stream, GearType val) {

406 stream << to_string(val) << " (" << (int)val << ")";

407 return stream;

408}

operator<<()

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, SensorDataSource val)

inline

SensorDataSource stream operator.

Definition at line 85 of file measurements.h.

85inline p1_ostream& operator<<(p1_ostream& stream, SensorDataSource val) {

86 stream << to_string(val) << " (" << (int)val << ")";

87 return stream;

88}

operator<<()

p1_ostream & point_one::fusion_engine::messages::operator<< (p1_ostream & stream, SystemTimeSource val)

inline

SystemTimeSource stream operator.

Definition at line 145 of file measurements.h.

145inline p1_ostream& operator<<(p1_ostream& stream, SystemTimeSource val) {

146 stream << to_string(val) << " (" << (int)val << ")";

147 return stream;

148}

Functions

to_string()

P1_CONSTEXPR_FUNC const char * point_one::fusion_engine::messages::to_string (GearType val)

Get a human-friendly string name for the specified GearType.

Parameters

val	The enum to get the string name for.

Returns

The corresponding string name.

Definition at line 385 of file measurements.h.

385P1_CONSTEXPR_FUNC const char* to_string(GearType val) {

386 switch (val) {

387 case GearType::UNKNOWN:

388 return "Unknown";

389 case GearType::FORWARD:

390 return "Forward";

391 case GearType::REVERSE:

392 return "Reverse";

393 case GearType::PARK:

394 return "Park";

395 case GearType::NEUTRAL:

396 return "Neutral";

397 }

398 return "Unrecognized";

399}

to_string()

P1_CONSTEXPR_FUNC const char * point_one::fusion_engine::messages::to_string (SensorDataSource val)

Get a human-friendly string name for the specified SensorDataSource.

Parameters

val	The enum to get the string name for.

Returns

The corresponding string name.

Definition at line 63 of file measurements.h.

63P1_CONSTEXPR_FUNC const char* to_string(SensorDataSource val) {

64 switch (val) {

65 case SensorDataSource::UNKNOWN:

66 return "Unknown";

67 case SensorDataSource::INTERNAL:

68 return "Internal";

69 case SensorDataSource::HARDWARE_IO:

70 return "Hardware I/O";

71 case SensorDataSource::CAN:

72 return "CAN";

73 case SensorDataSource::SERIAL:

74 return "Serial";

75 case SensorDataSource::NETWORK:

76 return "Network";

77 }

78 return "Unrecognized";

79}

to_string()

P1_CONSTEXPR_FUNC const char * point_one::fusion_engine::messages::to_string (SystemTimeSource val)

Get a human-friendly string name for the specified SystemTimeSource.

Parameters

val	The enum to get the string name for.

Returns

The corresponding string name.

Definition at line 125 of file measurements.h.

125P1_CONSTEXPR_FUNC const char* to_string(SystemTimeSource val) {

126 switch (val) {

127 case SystemTimeSource::INVALID:

128 return "Invalid";

129 case SystemTimeSource::P1_TIME:

130 return "P1 Time";

131 case SystemTimeSource::TIMESTAMPED_ON_RECEPTION:

132 return "Timestamped on Reception";

133 case SystemTimeSource::SENDER_SYSTEM_TIME:

134 return "Sender System Time";

135 case SystemTimeSource::GPS_TIME:

136 return "GPS Time";

137 }

138 return "Unrecognized";

139}

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