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)
GNSS_SIGNALS	GNSSSignalsMessage (= 10006)
SYSTEM_STATUS	SystemStatusMessage (= 10500)
SSR_STATUS	SSRStatusMessage (= 10501)
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 GNSS_SIGNALS = 10006, ///< @ref GNSSSignalsMessage

45

46 // Device status messages.

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

48 SSR_STATUS = 10501, ///< @ref SSRStatusMessage

49

50 // Sensor measurement messages.

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

52 DEPRECATED_RAW_HEADING_OUTPUT = 11001,

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

54 DEPRECATED_HEADING_OUTPUT = 11003,

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

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

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

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};

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 673 of file defs.h.

673P1_CONSTEXPR_FUNC bool IsCommand(const MessageHeader& header) {

674 return IsCommand(header.message_type);

675}

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 327 of file defs.h.

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::SSR_STATUS:

354 case MessageType::IMU_OUTPUT:

355 case MessageType::DEPRECATED_RAW_HEADING_OUTPUT:

356 case MessageType::RAW_IMU_OUTPUT:

357 case MessageType::DEPRECATED_HEADING_OUTPUT:

358 case MessageType::IMU_INPUT:

359 case MessageType::GNSS_ATTITUDE_OUTPUT:

360 case MessageType::RAW_GNSS_ATTITUDE_OUTPUT:

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}

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 687 of file defs.h.

687P1_CONSTEXPR_FUNC bool IsResponse(const MessageHeader& header) {

688 return IsResponse(header.message_type);

689}

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 403 of file defs.h.

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}

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