Message Definitions

Type definitions for all defined messages. More...

Topics Index

	Device Configuration, Control, And Status Messages
	Messages for controlling device configuration and operation. More...
	Device Status/Information Messages
	Messages for indicating high-level device status (notifications, software version, etc.). More...
	GNSS Corrections Message Definitions
	Messages containing GNSS corrections. More...
	Sensor Measurement Message Definitions
	Measurement data from available sensors. More...
	ROS Support Message Definitions
	Messages designed for direct translation to ROS. More...
	Navigation Solution Message Definitions
	Output messages containing position, navigation, and time results. More...

Classes Index

struct	MessageHeader
	The header present at the beginning of every message. More...
struct	MessagePayload
	The base class for all message payloads. More...

Enumerations Index

enum class	MessageType : uint16_t { ... }
	Identifiers for the defined output message types. More...

Functions Index

P1_CONSTEXPR_FUNC bool	IsCommand (const MessageHeader &header)
	Check if the specified message is a user command. More...
P1_CONSTEXPR_FUNC bool	IsCommand (MessageType message_type)
	Check if the specified message type is a user command. More...
P1_CONSTEXPR_FUNC bool	IsResponse (const MessageHeader &header)
	Check if the specified message type is a response to a user command. More...
P1_CONSTEXPR_FUNC bool	IsResponse (MessageType message_type)
	Check if the specified message type is a response to a user command. More...

Description

Type definitions for all defined messages.

See also MessageType.

Enumerations

MessageType

enum class point_one::fusion_engine::messages::MessageType : uint16_t

strong

Identifiers for the defined output message types.

Enumeration values

INVALID	Invalid message type (= 0)
POSE	PoseMessage (= 10000)
GNSS_INFO	GNSSInfoMessage (= 10001)
GNSS_SATELLITE	GNSSSatelliteMessage (= 10002)
POSE_AUX	PoseAuxMessage (= 10003)
CALIBRATION_STATUS	CalibrationStatusMessage (= 10004)
RELATIVE_ENU_POSITION	RelativeENUPositionMessage (= 10005)
SYSTEM_STATUS	SystemStatusMessage (= 10500)
IMU_OUTPUT	IMUOutput (= 11000)
DEPRECATED_RAW_HEADING_OUTPUT	(= 11001)
RAW_IMU_OUTPUT	RawIMUOutput (= 11002)
DEPRECATED_HEADING_OUTPUT	(= 11003)
IMU_INPUT	IMUInput (= 11004)
GNSS_ATTITUDE_OUTPUT	GNSSAttitudeOutput (= 11005)
RAW_GNSS_ATTITUDE_OUTPUT	RawGNSSAttitudeOutput (= 11006)
DEPRECATED_WHEEL_SPEED_MEASUREMENT	DeprecatedWheelSpeedMeasurement (= 11101)
DEPRECATED_VEHICLE_SPEED_MEASUREMENT	DeprecatedVehicleSpeedMeasurement (= 11102)
WHEEL_TICK_INPUT	WheelTickInput (= 11103)
VEHICLE_TICK_INPUT	VehicleTickInput (= 11104)
WHEEL_SPEED_INPUT	WheelSpeedInput (= 11105)
VEHICLE_SPEED_INPUT	VehicleSpeedInput (= 11106)
RAW_WHEEL_TICK_OUTPUT	RawWheelTickOutput (= 11123)
RAW_VEHICLE_TICK_OUTPUT	RawVehicleTickOutput (= 11124)
RAW_WHEEL_SPEED_OUTPUT	RawWheelSpeedOutput (= 11125)
RAW_VEHICLE_SPEED_OUTPUT	RawVehicleSpeedOutput (= 11126)
WHEEL_SPEED_OUTPUT	WheelSpeedOutput (= 11135)
VEHICLE_SPEED_OUTPUT	VehicleSpeedOutput (= 11136)
ROS_POSE	ros::PoseMessage (= 12000)
ROS_GPS_FIX	ros::GPSFixMessage (= 12010)
ROS_IMU	ros::IMUMessage (= 12011)
COMMAND_RESPONSE	CommandResponseMessage (= 13000)
MESSAGE_REQUEST	MessageRequest (= 13001)
RESET_REQUEST	ResetRequest (= 13002)
VERSION_INFO	VersionInfoMessage (= 13003)
EVENT_NOTIFICATION	EventNotificationMessage (= 13004)
SHUTDOWN_REQUEST	ShutdownRequest (= 13005)
FAULT_CONTROL	FaultControlMessage (= 13006)
DEVICE_ID	DeviceIDMessage (= 13007)
STARTUP_REQUEST	StartupRequest (= 13008)
SET_CONFIG	SetConfigMessage (= 13100)
GET_CONFIG	GetConfigMessage (= 13101)
SAVE_CONFIG	SaveConfigMessage (= 13102)
CONFIG_RESPONSE	ConfigResponseMessage (= 13103)
IMPORT_DATA	ImportDataMessage (= 13110)
EXPORT_DATA	ExportDataMessage (= 13111)
PLATFORM_STORAGE_DATA	PlatformStorageDataMessage (= 13113)
INPUT_DATA_WRAPPER	InputDataWrapperMessage (= 13120)
SET_MESSAGE_RATE	SetMessageRate (= 13220)
GET_MESSAGE_RATE	GetMessageRate (= 13221)
MESSAGE_RATE_RESPONSE	MessageRateResponse (= 13222)
SUPPORTED_IO_INTERFACES	SupportedIOInterfacesMessage (= 13223)
LBAND_FRAME	LBandFrameMessage (= 14000)
STA5635_COMMAND	STA5635Command (= 14100)
STA5635_COMMAND_RESPONSE	STA5635CommandResponse (= 14101)
STA5635_IQ_DATA	STA5635IQData (= 14102)
MAX_VALUE	The maximum defined MessageType enum value (= STA5635_IQ_DATA)

Definition at line 34 of file defs.h.

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

45 // Device status messages.

46 SYSTEM_STATUS = 10500, ///< @ref SystemStatusMessage

47

48 // Sensor measurement messages.

49 IMU_OUTPUT = 11000, ///< @ref IMUOutput

50 DEPRECATED_RAW_HEADING_OUTPUT = 11001,

51 RAW_IMU_OUTPUT = 11002, ///< @ref RawIMUOutput

52 DEPRECATED_HEADING_OUTPUT = 11003,

53 IMU_INPUT = 11004, ///< @ref IMUInput

54 GNSS_ATTITUDE_OUTPUT = 11005, ///< @ref GNSSAttitudeOutput

55 RAW_GNSS_ATTITUDE_OUTPUT = 11006, ///< @ref RawGNSSAttitudeOutput

56

57 // Vehicle measurement messages.

58 DEPRECATED_WHEEL_SPEED_MEASUREMENT =

59 11101, ///< @ref DeprecatedWheelSpeedMeasurement

60 DEPRECATED_VEHICLE_SPEED_MEASUREMENT =

61 11102, ///< @ref DeprecatedVehicleSpeedMeasurement

62

63 WHEEL_TICK_INPUT = 11103, ///< @ref WheelTickInput

64 VEHICLE_TICK_INPUT = 11104, ///< @ref VehicleTickInput

65 WHEEL_SPEED_INPUT = 11105, ///< @ref WheelSpeedInput

66 VEHICLE_SPEED_INPUT = 11106, ///< @ref VehicleSpeedInput

67

68 RAW_WHEEL_TICK_OUTPUT = 11123, ///< @ref RawWheelTickOutput

69 RAW_VEHICLE_TICK_OUTPUT = 11124, ///< @ref RawVehicleTickOutput

70 RAW_WHEEL_SPEED_OUTPUT = 11125, ///< @ref RawWheelSpeedOutput

71 RAW_VEHICLE_SPEED_OUTPUT = 11126, ///< @ref RawVehicleSpeedOutput

72

73 WHEEL_SPEED_OUTPUT = 11135, ///< @ref WheelSpeedOutput

74 VEHICLE_SPEED_OUTPUT = 11136, ///< @ref VehicleSpeedOutput

75

76 // ROS messages.

77 ROS_POSE = 12000, ///< @ref ros::PoseMessage

78 ROS_GPS_FIX = 12010, ///< @ref ros::GPSFixMessage

79 ROS_IMU = 12011, ///< @ref ros::IMUMessage

80

81 // Command and control messages.

82 COMMAND_RESPONSE = 13000, ///< @ref CommandResponseMessage

83 MESSAGE_REQUEST = 13001, ///< @ref MessageRequest

84 RESET_REQUEST = 13002, ///< @ref ResetRequest

85 VERSION_INFO = 13003, ///< @ref VersionInfoMessage

86 EVENT_NOTIFICATION = 13004, ///< @ref EventNotificationMessage

87 SHUTDOWN_REQUEST = 13005, ///< @ref ShutdownRequest

88 FAULT_CONTROL = 13006, ///< @ref FaultControlMessage

89 DEVICE_ID = 13007, ///< @ref DeviceIDMessage

90 STARTUP_REQUEST = 13008, ///< @ref StartupRequest

91

92 SET_CONFIG = 13100, ///< @ref SetConfigMessage

93 GET_CONFIG = 13101, ///< @ref GetConfigMessage

94 SAVE_CONFIG = 13102, ///< @ref SaveConfigMessage

95 CONFIG_RESPONSE = 13103, ///< @ref ConfigResponseMessage

96

97 IMPORT_DATA = 13110, ///< @ref ImportDataMessage

98 EXPORT_DATA = 13111, ///< @ref ExportDataMessage

99 PLATFORM_STORAGE_DATA = 13113, ///< @ref PlatformStorageDataMessage

100 INPUT_DATA_WRAPPER = 13120, ///< @ref InputDataWrapperMessage

101

102 SET_MESSAGE_RATE = 13220, ///< @ref SetMessageRate

103 GET_MESSAGE_RATE = 13221, ///< @ref GetMessageRate

104 MESSAGE_RATE_RESPONSE = 13222, ///< @ref MessageRateResponse

105 SUPPORTED_IO_INTERFACES = 13223, ///< @ref SupportedIOInterfacesMessage

106

107 LBAND_FRAME = 14000, ///< @ref LBandFrameMessage

108

109 STA5635_COMMAND = 14100, ///< @ref STA5635Command

110 STA5635_COMMAND_RESPONSE = 14101, ///< @ref STA5635CommandResponse

111 STA5635_IQ_DATA = 14102, ///< @ref STA5635IQData

112

113 /// The maximum defined @ref MessageType enum value.

114 MAX_VALUE = STA5635_IQ_DATA,

115};

Functions

IsCommand()

P1_CONSTEXPR_FUNC bool point_one::fusion_engine::messages::IsCommand (const MessageHeader & header)

Check if the specified message is a user command.

See IsCommand() for details.

Parameters

header

Header of a received FusionEngine message.

Returns

true if the message is a FusionEngine command.

Definition at line 663 of file defs.h.

663P1_CONSTEXPR_FUNC bool IsCommand(const MessageHeader& header) {

664 return IsCommand(header.message_type);

665}

IsCommand()

P1_CONSTEXPR_FUNC bool point_one::fusion_engine::messages::IsCommand (MessageType message_type)

Check if the specified message type is a user command.

See also IsResponse().

Parameters

message_type

The message type in question.

Returns

true if the message is a FusionEngine command.

Definition at line 319 of file defs.h.

319P1_CONSTEXPR_FUNC bool IsCommand(MessageType message_type) {

320 switch (message_type) {

321 case MessageType::MESSAGE_REQUEST:

322 case MessageType::RESET_REQUEST:

323 case MessageType::STARTUP_REQUEST:

324 case MessageType::SHUTDOWN_REQUEST:

325 case MessageType::FAULT_CONTROL:

326 case MessageType::SET_CONFIG:

327 case MessageType::GET_CONFIG:

328 case MessageType::SAVE_CONFIG:

329 case MessageType::IMPORT_DATA:

330 case MessageType::EXPORT_DATA:

331 case MessageType::SET_MESSAGE_RATE:

332 case MessageType::GET_MESSAGE_RATE:

333 case MessageType::STA5635_COMMAND:

334 return true;

335

336 case MessageType::INVALID:

337 case MessageType::POSE:

338 case MessageType::GNSS_INFO:

339 case MessageType::GNSS_SATELLITE:

340 case MessageType::POSE_AUX:

341 case MessageType::CALIBRATION_STATUS:

342 case MessageType::RELATIVE_ENU_POSITION:

343 case MessageType::SYSTEM_STATUS:

344 case MessageType::IMU_OUTPUT:

345 case MessageType::DEPRECATED_RAW_HEADING_OUTPUT:

346 case MessageType::RAW_IMU_OUTPUT:

347 case MessageType::DEPRECATED_HEADING_OUTPUT:

348 case MessageType::IMU_INPUT:

349 case MessageType::GNSS_ATTITUDE_OUTPUT:

350 case MessageType::RAW_GNSS_ATTITUDE_OUTPUT:

351 case MessageType::DEPRECATED_WHEEL_SPEED_MEASUREMENT:

352 case MessageType::DEPRECATED_VEHICLE_SPEED_MEASUREMENT:

353 case MessageType::WHEEL_TICK_INPUT:

354 case MessageType::VEHICLE_TICK_INPUT:

355 case MessageType::WHEEL_SPEED_INPUT:

356 case MessageType::VEHICLE_SPEED_INPUT:

357 case MessageType::RAW_WHEEL_TICK_OUTPUT:

358 case MessageType::RAW_VEHICLE_TICK_OUTPUT:

359 case MessageType::RAW_WHEEL_SPEED_OUTPUT:

360 case MessageType::RAW_VEHICLE_SPEED_OUTPUT:

361 case MessageType::WHEEL_SPEED_OUTPUT:

362 case MessageType::VEHICLE_SPEED_OUTPUT:

363 case MessageType::ROS_POSE:

364 case MessageType::ROS_GPS_FIX:

365 case MessageType::ROS_IMU:

366 case MessageType::COMMAND_RESPONSE:

367 case MessageType::VERSION_INFO:

368 case MessageType::EVENT_NOTIFICATION:

369 case MessageType::DEVICE_ID:

370 case MessageType::CONFIG_RESPONSE:

371 case MessageType::PLATFORM_STORAGE_DATA:

372 case MessageType::INPUT_DATA_WRAPPER:

373 case MessageType::MESSAGE_RATE_RESPONSE:

374 case MessageType::SUPPORTED_IO_INTERFACES:

375 case MessageType::LBAND_FRAME:

376 case MessageType::STA5635_COMMAND_RESPONSE:

377 case MessageType::STA5635_IQ_DATA:

378 return false;

379 }

380 return false;

381}

IsResponse()

P1_CONSTEXPR_FUNC bool point_one::fusion_engine::messages::IsResponse (const MessageHeader & header)

Check if the specified message type is a response to a user command.

See IsResponse() for details.

Parameters

header

Header of a received FusionEngine message.

Returns

true if the message is a FusionEngine command response.

Definition at line 677 of file defs.h.

677P1_CONSTEXPR_FUNC bool IsResponse(const MessageHeader& header) {

678 return IsResponse(header.message_type);

679}

IsResponse()

P1_CONSTEXPR_FUNC bool point_one::fusion_engine::messages::IsResponse (MessageType message_type)

Check if the specified message type is a response to a user command.

See also IsCommand().

Parameters

message_type

The message type in question.

Returns

true if the message is a FusionEngine command response.

Definition at line 393 of file defs.h.

393P1_CONSTEXPR_FUNC bool IsResponse(MessageType message_type) {

394 switch (message_type) {

395 case MessageType::COMMAND_RESPONSE:

396 case MessageType::CONFIG_RESPONSE:

397 case MessageType::MESSAGE_RATE_RESPONSE:

398 case MessageType::STA5635_COMMAND_RESPONSE:

399 return true;

400 default:

401 return false;

402 }

403}

---

Generated via doxygen2docusaurus 2.0.0 by Doxygen 1.9.8.