Namespaces
	ros

Classes
struct	CalibrationStatusMessage
	Device calibration status update. More...

struct	CoarseOrientation
	The orientation of a device with respect to the vehicle body axes. More...

struct	CommandResponseMessage
	Response to indicate if command was processed successfully (MessageType::COMMAND_RESPONSE, version 1.0). More...

struct	ConfigResponseMessage
	Response to a GetConfigMessage request (MessageType::CONFIG_RESPONSE, version 1.0). More...

struct	EventNotificationMessage
	Notification of a system event for logging purposes (MessageType::EVENT_NOTIFICATION, version 1.0). More...

struct	GetConfigMessage
	Query the value of a user configuration parameter (MessageType::GET_CONFIG, version 1.0). More...

struct	GetMessageOutputRate
	Get the configured output rate for the he requested message type on the specified interface. More...

struct	GetOutputInterfaceConfigMessage
	Query the set of message streams configured to be output by the device on a specified interface. More...

struct	GNSSInfoMessage
	Information about the GNSS data used in the PoseMessage with the corresponding timestamp (MessageType::GNSS_INFO, version 1.0). More...

struct	GNSSSatelliteMessage
	Information about the individual satellites used in the PoseMessage and GNSSInfoMessage with the corresponding timestamp (MessageType::GNSS_SATELLITE, version 1.0). More...

struct	HardwareTickConfig
	Hardware wheel encoder configuration settings. More...

struct	IMUMeasurement
	IMU sensor measurement data (MessageType::IMU_MEASUREMENT, version 1.0). More...

struct	InterfaceID
	Identifies an IO interface. More...

struct	MeasurementTimestamps
	The time of applicability for an incoming sensor measurement. More...

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

struct	MessageOutputRateResponse
	The requested output rate. More...

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

struct	MessageRequest
	Request transmission of a specified message type, (MessageType::MESSAGE_REQUEST, version 1.0). More...

struct	OutputInterfaceConfigEntry
	Configuration for the streams associated with a single output interface. More...

struct	OutputInterfaceConfigResponseMessage
	Response to a GetOutputInterfaceConfigMessage request (MessageType::OUTPUT_INTERFACE_CONFIG_RESPONSE, version 1.0). More...

struct	Point3f
	A 3-dimensional vector (used for lever arms, etc.). More...

struct	PoseAuxMessage
	Auxiliary platform pose information (MessageType::POSE_AUX, version 1.0). More...

struct	PoseMessage
	Platform pose solution: position, velocity, attitude (MessageType::POSE, version 1.1). More...

struct	RelativeENUPositionMessage
	Relative ENU position to base station (MessageType::RELATIVE_ENU_POSITION, version 1). More...

struct	ResetRequest
	Perform a software or hardware reset (MessageType::RESET_REQUEST, version 1.0). More...

struct	SatelliteInfo
	Information about an individual satellite (see GNSSSatelliteMessage). More...

struct	SaveConfigMessage
	Save or reload configuration settings (MessageType::SAVE_CONFIG, version 1.0). More...

struct	SetConfigMessage
	Set a user configuration parameter (MessageType::SET_CONFIG, version 1.0). More...

struct	SetMessageOutputRate
	Set the output rate for the requested message type on the specified interface. More...

struct	SetOutputInterfaceConfigMessage
	Configure the set of output streams enabled for a given output interface (MessageType::SET_OUTPUT_INTERFACE_CONFIG, version 1.0). More...

struct	ShutdownRequest
	Perform a device shutdown (MessageType::SHUTDOWN_REQUEST, version 1.0). More...

struct	Timestamp
	Generic timestamp representation. More...

struct	VehicleDetails
	Information about the vehicle including model and dimensions. More...

struct	VehicleSpeedMeasurement
	Vehicle body speed measurement (MessageType::VEHICLE_SPEED_MEASUREMENT, version 1.0). More...

struct	VehicleTickMeasurement
	Singular wheel encoder tick measurement, representing vehicle body speed (MessageType::VEHICLE_TICK_MEASUREMENT, version 1.0). More...

struct	VersionInfoMessage
	Software and hardware version information, (MessageType::VERSION_INFO, version 1.0). More...

struct	WheelConfig
	Vehicle/wheel speed measurement configuration settings. More...

struct	WheelSpeedMeasurement
	Differential wheel speed measurement (MessageType::WHEEL_SPEED_MEASUREMENT, version 1.0). More...

struct	WheelTickMeasurement
	Differential wheel encoder tick measurement (MessageType::WHEEL_TICK_MEASUREMENT, version 1.0). More...

Enumerations
enum	CalibrationStage : uint8_t { CalibrationStage::UNKNOWN = 0, CalibrationStage::MOUNTING_ANGLE = 1, CalibrationStage::DONE = 255 }
	The stages of the device calibration process. More...

enum	ConfigType : uint16_t { ConfigType::INVALID = 0, ConfigType::DEVICE_LEVER_ARM = 16, ConfigType::DEVICE_COARSE_ORIENTATION = 17, ConfigType::GNSS_LEVER_ARM = 18, ConfigType::OUTPUT_LEVER_ARM = 19, ConfigType::VEHICLE_DETAILS = 20, ConfigType::WHEEL_CONFIG = 21, ConfigType::HARDWARE_TICK_CONFIG = 22, ConfigType::UART1_BAUD = 256, ConfigType::UART2_BAUD = 257, ConfigType::UART1_OUTPUT_DIAGNOSTICS_MESSAGES = 258, ConfigType::UART2_OUTPUT_DIAGNOSTICS_MESSAGES = 259, ConfigType::ENABLE_WATCHDOG_TIMER = 300 }
	An identifier for the contents of a parameter configuration message. More...

enum	ConfigurationSource : uint8_t { ConfigurationSource::ACTIVE = 0, ConfigurationSource::SAVED = 1 }
	The type of a device's configuration settings. More...

enum	GearType : uint8_t { GearType::UNKNOWN = 0, GearType::FORWARD = 1, GearType::REVERSE = 2, GearType::PARK = 3, GearType::NEUTRAL = 4 }
	The current transmission gear used by the vehicle. More...

enum	MessageType : uint16_t { MessageType::INVALID = 0, MessageType::POSE = 10000, MessageType::GNSS_INFO = 10001, MessageType::GNSS_SATELLITE = 10002, MessageType::POSE_AUX = 10003, MessageType::CALIBRATION_STATUS = 10004, MessageType::RELATIVE_ENU_POSITION = 10005, MessageType::IMU_MEASUREMENT = 11000, MessageType::WHEEL_SPEED_MEASUREMENT = 11101, MessageType::VEHICLE_SPEED_MEASUREMENT = 11102, MessageType::WHEEL_TICK_MEASUREMENT = 11103, MessageType::VEHICLE_TICK_MEASUREMENT = 11104, MessageType::ROS_POSE = 12000, MessageType::ROS_GPS_FIX = 12010, MessageType::ROS_IMU = 12011, MessageType::COMMAND_RESPONSE = 13000, MessageType::MESSAGE_REQUEST = 13001, MessageType::RESET_REQUEST = 13002, MessageType::VERSION_INFO = 13003, MessageType::EVENT_NOTIFICATION = 13004, MessageType::SHUTDOWN_REQUEST = 13005, MessageType::SET_CONFIG = 13100, MessageType::GET_CONFIG = 13101, MessageType::SAVE_CONFIG = 13102, MessageType::CONFIG_RESPONSE = 13103, MessageType::SET_OUTPUT_INTERFACE_CONFIG = 13200, MessageType::GET_OUTPUT_INTERFACE_CONFIG = 13201, MessageType::OUTPUT_INTERFACE_CONFIG_RESPONSE, MessageType::SET_OUTPUT_MESSAGE_RATE = 13220, MessageType::GET_OUTPUT_MESSAGE_RATE = 13221, MessageType::OUTPUT_MESSAGE_RATE_RESPONSE = 13222, MessageType::MAX_VALUE = OUTPUT_MESSAGE_RATE_RESPONSE }
	Identifiers for the defined output message types. More...

enum	Response : uint8_t { Response::OK = 0, Response::UNSUPPORTED_CMD_VERSION = 1, Response::UNSUPPORTED_FEATURE = 2, Response::VALUE_ERROR = 3, Response::INSUFFICIENT_SPACE = 4, Response::EXECUTION_FAILURE = 5, Response::INCONSISTENT_PAYLOAD_LENGTH = 6, Response::DATA_CORRUPTED = 7 }
	Command response status indicators. More...

enum	SatelliteType : uint8_t { SatelliteType::UNKNOWN = 0, SatelliteType::GPS = 1, SatelliteType::GLONASS = 2, SatelliteType::LEO = 3, SatelliteType::GALILEO = 4, SatelliteType::BEIDOU = 5, SatelliteType::QZSS = 6, SatelliteType::MIXED = 7, SatelliteType::SBAS = 8, SatelliteType::IRNSS = 9, SatelliteType::MAX_VALUE = IRNSS }
	System/constellation type definitions. More...

enum	SaveAction : uint8_t { SaveAction::SAVE = 0, SaveAction::REVERT_TO_SAVED = 1, SaveAction::REVERT_TO_DEFAULT = 2 }
	The type configuration save operation to be performed. More...

enum	SolutionType : uint8_t { SolutionType::Invalid = 0, SolutionType::AutonomousGPS = 1, SolutionType::DGPS = 2, SolutionType::RTKFixed = 4, SolutionType::RTKFloat = 5, SolutionType::Integrate = 6, SolutionType::Visual = 9, SolutionType::PPP = 10, SolutionType::MAX_VALUE = PPP }
	Navigation solution type definitions. More...

enum	SystemTimeSource : uint8_t { SystemTimeSource::INVALID = 0, SystemTimeSource::P1_TIME = 1, SystemTimeSource::TIMESTAMPED_ON_RECEPTION = 2, SystemTimeSource::SENDER_SYSTEM_TIME = 3, SystemTimeSource::GPS_TIME = 4 }
	The source of a point_one::fusion_engine::messages::Timestamp used to represent the time of applicability of an incoming sensor measurement. More...

Functions
uint32_t	CalculateCRC (const void *buffer)
	Calculate the CRC for the message (header + payload) contained in the buffer. More...

bool	IsValid (const void *buffer)
	Check if the message contained in the buffer has a valid CRC. More...

std::ostream &	operator<< (std::ostream &stream, CalibrationStage val)
	CalibrationStage stream operator. More...

std::ostream &	operator<< (std::ostream &stream, ConfigType type)
	ConfigType stream operator. More...

std::ostream &	operator<< (std::ostream &stream, ConfigurationSource source)
	ConfigurationSource stream operator. More...

std::ostream &	operator<< (std::ostream &stream, GearType val)
	GearType stream operator. More...

std::ostream &	operator<< (std::ostream &stream, MessageType type)
	MessageType stream operator. More...

std::ostream &	operator<< (std::ostream &stream, Response val)
	Response stream operator. More...

std::ostream &	operator<< (std::ostream &stream, SatelliteType type)
	SatelliteType stream operator. More...

std::ostream &	operator<< (std::ostream &stream, SaveAction action)
	SaveAction stream operator. More...

std::ostream &	operator<< (std::ostream &stream, SolutionType type)
	SolutionType stream operator. More...

std::ostream &	operator<< (std::ostream &stream, SystemTimeSource val)
	SystemTimeSource stream operator. More...

const char *	to_string (CalibrationStage val)
	Get a human-friendly string name for the specified CalibrationStage. More...

const char *	to_string (ConfigType type)
	Get a human-friendly string name for the specified ConfigType. More...

const char *	to_string (ConfigurationSource source)
	Get a human-friendly string name for the specified ConfigurationSource. More...

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

const char *	to_string (MessageType type)
	Get a human-friendly string name for the specified MessageType. More...

const char *	to_string (Response val)
	Get a human-friendly string name for the specified Response. More...

const char *	to_string (SatelliteType type)
	Get a human-friendly string name for the specified SatelliteType (GNSS constellation). More...

const char *	to_string (SaveAction action)
	Get a human-friendly string name for the specified SaveAction. More...

const char *	to_string (SolutionType type)
	Get a human-friendly string name for the specified SolutionType. More...

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

Configuration Settings Type Definitions
enum	VehicleModel : uint16_t { VehicleModel::UNKNOWN_VEHICLE = 0, VehicleModel::DATASPEED_CD4 = 1, VehicleModel::J1939 = 2, VehicleModel::LEXUS_CT200H = 20, VehicleModel::KIA_SORENTO = 40, VehicleModel::KIA_SPORTAGE = 41, VehicleModel::AUDI_Q7 = 60, VehicleModel::AUDI_A8L = 61, VehicleModel::TESLA_MODEL_X = 80, VehicleModel::TESLA_MODEL_3 = 81, VehicleModel::HYUNDAI_ELANTRA = 100, VehicleModel::PEUGEOT_206 = 120, VehicleModel::MAN_TGX = 140, VehicleModel::FACTION = 160, VehicleModel::LINCOLN_MKZ = 180, VehicleModel::BMW_7 = 200 }
	The make and model of the vehicle. More...

enum	WheelSensorType : uint8_t { WheelSensorType::NONE = 0, WheelSensorType::TICK_RATE = 1, WheelSensorType::TICKS = 2, WheelSensorType::WHEEL_SPEED = 3, WheelSensorType::VEHICLE_SPEED = 4, WheelSensorType::VEHICLE_TICKS = 5 }
	The type of vehicle/wheel speed measurements produced by the vehicle. More...

enum	AppliedSpeedType : uint8_t { AppliedSpeedType::NONE = 0, AppliedSpeedType::REAR_WHEELS = 1, AppliedSpeedType::FRONT_WHEELS = 2, AppliedSpeedType::FRONT_AND_REAR_WHEELS = 3, AppliedSpeedType::VEHICLE_BODY = 4 }
	The type of vehicle/wheel speed measurements to be applied. More...

enum	SteeringType : uint8_t { SteeringType::UNKNOWN = 0, SteeringType::FRONT = 1, SteeringType::FRONT_AND_REAR = 2 }
	Indication of which of the vehicle's wheels are steered. More...

enum	TickMode : uint8_t { TickMode::OFF = 0, TickMode::RISING_EDGE = 1, TickMode::FALLING_EDGE = 2 }
	The signal edge to use when capturing a wheel tick voltage signal. More...

enum	TickDirection : uint8_t { TickDirection::OFF = 0, TickDirection::FORWARD_ACTIVE_HIGH = 1, TickDirection::FORWARD_ACTIVE_LOW = 2 }
	The way to interpret an incoming voltage signal, used to indicate direction of a hardware wheel tick pulse, if available. More...

const char *	to_string (VehicleModel vehicle_model)
	Get a human-friendly string name for the specified VehicleModel. More...

std::ostream &	operator<< (std::ostream &stream, VehicleModel vehicle_model)
	VehicleModel stream operator. More...

const char *	to_string (WheelSensorType wheel_sensor_type)
	Get a human-friendly string name for the specified WheelSensorType. More...

std::ostream &	operator<< (std::ostream &stream, WheelSensorType wheel_sensor_type)
	WheelSensorType stream operator. More...

const char *	to_string (AppliedSpeedType applied_speed_type)
	Get a human-friendly string name for the specified AppliedSpeedType. More...

std::ostream &	operator<< (std::ostream &stream, AppliedSpeedType applied_speed_type)
	AppliedSpeedType stream operator. More...

const char *	to_string (SteeringType steering_type)
	Get a human-friendly string name for the specified SteeringType. More...

std::ostream &	operator<< (std::ostream &stream, SteeringType steering_type)
	SteeringType stream operator. More...

const char *	to_string (TickMode tick_mode)

std::ostream &	operator<< (std::ostream &stream, TickMode tick_mode)
	TickMode stream operator. More...

const char *	to_string (TickDirection tick_direction)

std::ostream &	operator<< (std::ostream &stream, TickDirection tick_direction)
	TickDirection stream operator. More...

Input/Output Stream Control
enum	ProtocolType : uint8_t { ProtocolType::INVALID = 0, ProtocolType::FUSION_ENGINE = 1, ProtocolType::NMEA = 2, ProtocolType::RTCM = 3 }
	The framing protocol of a message. More...

enum	TransportType : uint8_t { TransportType::INVALID = 0, TransportType::SERIAL = 1, TransportType::FILE = 2, TransportType::TCP_CLIENT = 3, TransportType::TCP_SERVER = 4, TransportType::UDP_CLIENT = 5, TransportType::UDP_SERVER = 6, TransportType::ALL = 255 }
	Type of IO interface transport. More...

enum	UpdateAction : uint8_t { UpdateAction::REPLACE = 0 }
	The ways that this configuration message can be applied to the previous list of values for that configuration type. More...

enum	NmeaMessageType : uint16_t { NmeaMessageType::INVALID = 0, NmeaMessageType::Standard NMEA Messages, NmeaMessageType::GGA = 1, NmeaMessageType::GLL = 2, NmeaMessageType::GSA = 3, NmeaMessageType::GSV = 4, NmeaMessageType::RMC = 5, NmeaMessageType::VTG = 6, NmeaMessageType::Point One Proprietary Messages, NmeaMessageType::P1CALSTATUS = 1000, NmeaMessageType::P1MSG = 1001, NmeaMessageType::Quectel Proprietary Messages, NmeaMessageType::PQTMVERNO = 1200, NmeaMessageType::PQTMVER = 1201, NmeaMessageType::PQTMGNSS = 1202 }
	Integer ID for NMEA messages. More...

enum	MessageRate : uint8_t { MessageRate::OFF = 0, MessageRate::ON_CHANGE = 1, MessageRate::INTERVAL_10_MS = 2, MessageRate::INTERVAL_20_MS = 3, MessageRate::INTERVAL_40_MS = 4, MessageRate::INTERVAL_50_MS = 5, MessageRate::INTERVAL_100_MS = 6, MessageRate::INTERVAL_200_MS = 7, MessageRate::INTERVAL_500_MS = 8, MessageRate::INTERVAL_1_S = 9, MessageRate::INTERVAL_2_S = 10, MessageRate::INTERVAL_5_S = 11, MessageRate::INTERVAL_10_S = 12 }
	The output rate for a message type on an interface. More...

const char *	to_string (ProtocolType val)
	Get a human-friendly string name for the specified ProtocolType. More...

std::ostream &	operator<< (std::ostream &stream, ProtocolType val)
	ProtocolType stream operator. More...

const char *	to_string (TransportType val)
	Get a human-friendly string name for the specified TransportType. More...

std::ostream &	operator<< (std::ostream &stream, TransportType val)
	TransportType stream operator. More...

std::ostream &	operator<< (std::ostream &stream, InterfaceID val)
	InterfaceID stream operator. More...

const char *	to_string (UpdateAction val)
	Get a human-friendly string name for the specified UpdateAction. More...

std::ostream &	operator<< (std::ostream &stream, UpdateAction val)
	UpdateAction stream operator. More...

const char *	to_string (NmeaMessageType value)
	Get a human-friendly string name for the specified NmeaMessageType. More...

std::ostream &	operator<< (std::ostream &stream, NmeaMessageType val)
	NmeaMessageType stream operator. More...

const char *	to_string (MessageRate value)
	Get a human-friendly string name for the specified MessageRate. More...

std::ostream &	operator<< (std::ostream &stream, MessageRate val)
	MessageRate stream operator. More...

Enumeration Type Documentation

◆ MessageRate

enum point_one::fusion_engine::messages::MessageRate : uint8_t

strong

The output rate for a message type on an interface.

Enumerator
OFF	Disable output of this message.
ON_CHANGE	Output this message each time a new value is available.
INTERVAL_10_MS	Output this message at this interval. Not supported for all messages or platforms.
INTERVAL_20_MS	Output this message at this interval. Not supported for all messages or platforms.
INTERVAL_40_MS	Output this message at this interval. Not supported for all messages or platforms.
INTERVAL_50_MS	Output this message at this interval. Not supported for all messages or platforms.
INTERVAL_100_MS	Output this message at this interval. Not supported for all messages or platforms.
INTERVAL_200_MS	Output this message at this interval. Not supported for all messages or platforms.
INTERVAL_500_MS	Output this message at this interval. Not supported for all messages or platforms.
INTERVAL_1_S	Output this message at this interval. Not supported for all messages or platforms.
INTERVAL_2_S	Output this message at this interval. Not supported for all messages or platforms.
INTERVAL_5_S	Output this message at this interval. Not supported for all messages or platforms.
INTERVAL_10_S	Output this message at this interval. Not supported for all messages or platforms.

Definition at line 1377 of file configuration.h.

◆ NmeaMessageType

enum point_one::fusion_engine::messages::NmeaMessageType : uint16_t

strong

Integer ID for NMEA messages.

Enumerator
INVALID
Standard NMEA Messages
GGA
GLL
GSA
GSV
RMC
VTG
Point One Proprietary Messages
P1CALSTATUS
P1MSG
Quectel Proprietary Messages
PQTMVERNO
PQTMVER
PQTMGNSS

Definition at line 1280 of file configuration.h.

◆ ProtocolType

enum point_one::fusion_engine::messages::ProtocolType : uint8_t

strong

The framing protocol of a message.

Enumerator
INVALID
FUSION_ENGINE
NMEA
RTCM

Definition at line 974 of file configuration.h.

◆ TransportType

enum point_one::fusion_engine::messages::TransportType : uint8_t

strong

Type of IO interface transport.

Enumerator
INVALID
SERIAL
FILE
TCP_CLIENT
TCP_SERVER
UDP_CLIENT
UDP_SERVER
ALL	This is used for requesting the configuration for all interfaces.

Definition at line 1017 of file configuration.h.

◆ UpdateAction

enum point_one::fusion_engine::messages::UpdateAction : uint8_t

strong

The ways that this configuration message can be applied to the previous list of values for that configuration type.

Enumerator
REPLACE	Replace the previous list of values with the set provided in this configuration.

Definition at line 1105 of file configuration.h.

Function Documentation

◆ operator<<() [1/3]

std::ostream& point_one::fusion_engine::messages::operator<<	(	std::ostream &	stream,
		CalibrationStage	val
	)

inline

CalibrationStage stream operator.

Definition at line 354 of file solution.h.

◆ operator<<() [2/3]

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

inline

GearType stream operator.

Definition at line 233 of file measurements.h.

◆ operator<<() [3/3]

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

inline

SystemTimeSource stream operator.

Definition at line 82 of file measurements.h.

◆ to_string() [1/3]

const char* point_one::fusion_engine::messages::to_string ( CalibrationStage val )

inline

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

Parameters

val	The enum to get the string name for.

Returns: The corresponding string name.

Definition at line 338 of file solution.h.

◆ to_string() [2/3]

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

inline

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 213 of file measurements.h.

◆ to_string() [3/3]

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

inline

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 62 of file measurements.h.

Namespaces

Classes

Enumerations

Functions

Configuration Settings Type Definitions

Input/Output Stream Control

Enumeration Type Documentation

◆ MessageRate

◆ NmeaMessageType

◆ ProtocolType

◆ TransportType

◆ UpdateAction

Function Documentation

◆ operator<<() [1/3]

◆ operator<<() [2/3]

◆ operator<<() [3/3]

◆ to_string() [1/3]

◆ to_string() [2/3]

◆ to_string() [3/3]