Detailed Description
Set the output rate for the requested message types (MessageType::SET_MESSAGE_RATE, version 1.0).
Multiple message rates can be configured with a single command if wild cards are used for the interface, protocol, or message ID. When multiple messages are specified, the following behaviors apply:
- Messages that are currently MessageRate::OFF will not be changed unless the FLAG_INCLUDE_DISABLED_MESSAGES bit is set in the flags or the new rate is MessageRate::DEFAULT.
- If the rate is an interval, it will only affect the messages that support being rate controlled.
Setting all the messages on an interface to MessageRate::DEFAULT will also restore the default *_OUTPUT_DIAGNOSTICS_MESSAGES configuration option value for that interface. See ConfigType.
Typical Use Cases
Restore Default Settings For All Messages
To restore the default configuration on UART1 for all message types across all supported protocols, specify the following:
- Interface transport type: TransportType::SERIAL
- Interface index: 1
- Protocol: ProtocolType::ALL
- Message ID: ALL_MESSAGES_ID
- Rate: MessageRate::DEFAULT
Restore Default Settings For All NMEA
To restore the default configuration on UART1 for all NMEA message types, specify the following:
- Interface transport type: TransportType::SERIAL
- Interface index: 1
- Protocol: ProtocolType::NMEA
- Message ID: ALL_MESSAGES_ID
- Rate: MessageRate::DEFAULT
Change UART1 Output Rate To 1 Hz:
To change the rate of all rate-controlled messages (e.g., FusionEngine PoseMessage, NMEA GGA) to 1 Hz on UART1, specify the following:
- Interface transport type: TransportType::SERIAL
- Interface index: 1
- Protocol: ProtocolType::ALL
- Message ID: ALL_MESSAGES_ID
- Rate: MessageRate::INTERVAL_1_S
- Note
- Note that this will not affect any message types that are not rate controlled (e.g., MessageType::EVENT_NOTIFICATION).
Change The Uart1 Output Rates For All Messages To Their Max:
To change the rate of all messages to their max rate on UART1, specify the following:
- Interface transport type: TransportType::SERIAL
- Interface index: 1
- Protocol: ProtocolType::ALL
- flags: FLAG_INCLUDE_DISABLED_MESSAGES
- Message ID: ALL_MESSAGES_ID
- Rate: MessageRate::ON_CHANGE
- Note
- This will enabled every message regardless of whether it's MessageRate::OFF or whether or not it's rate controlled.
Change And Save The UART1 Output Rates For All Messages To Their Max:
To change the rate of all messages to their max rate on UART1, specify the following:
- Interface transport type: TransportType::SERIAL
- Interface index: 1
- Protocol: ProtocolType::ALL
- flags: 0x03 (FLAG_INCLUDE_DISABLED_MESSAGES | FLAG_APPLY_AND_SAVE)
- Message ID: ALL_MESSAGES_ID
- Rate: MessageRate::ON_CHANGE
- Note
- Both of the bit flags are set for this message. This will cause the configuration to be saved to non-volatile memory.
Expected Response
The device will respond with a CommandResponseMessage indicating whether or not the request succeeded.
Definition at line 1697 of file configuration.h.
#include <point_one/fusion_engine/messages/configuration.h>
Public Attributes | |
| uint8_t | flags = 0 |
| Bitmask of additional flags to modify the command. More... | |
| uint16_t | message_id = ALL_MESSAGES_ID |
| The ID of the desired message type (e.g., 10000 for FusionEngine MessageType::POSE messages). More... | |
| InterfaceID | output_interface {TransportType::CURRENT} |
| The output interface to configure. More... | |
| ProtocolType | protocol = ProtocolType::INVALID |
| The message protocol being configured. More... | |
| MessageRate | rate = MessageRate::OFF |
| The desired message rate. More... | |
Static Public Attributes | |
| static constexpr uint8_t | FLAG_APPLY_AND_SAVE = 0x01 |
| Flag to immediately save the config after applying this setting. More... | |
| static constexpr uint8_t | FLAG_INCLUDE_DISABLED_MESSAGES = 0x02 |
| Flag to apply bulk interval changes to all messages instead of just enabled messages. More... | |
| static constexpr MessageType | MESSAGE_TYPE = MessageType::SET_MESSAGE_RATE |
| static constexpr uint8_t | MESSAGE_VERSION = 0 |
Member Data Documentation
◆ FLAG_APPLY_AND_SAVE
|
staticconstexpr |
Flag to immediately save the config after applying this setting.
Definition at line 1702 of file configuration.h.
◆ FLAG_INCLUDE_DISABLED_MESSAGES
|
staticconstexpr |
Flag to apply bulk interval changes to all messages instead of just enabled messages.
Definition at line 1708 of file configuration.h.
◆ flags
| uint8_t point_one::fusion_engine::messages::SetMessageRate::flags = 0 |
Bitmask of additional flags to modify the command.
Definition at line 1723 of file configuration.h.
◆ message_id
| uint16_t point_one::fusion_engine::messages::SetMessageRate::message_id = ALL_MESSAGES_ID |
The ID of the desired message type (e.g., 10000 for FusionEngine MessageType::POSE messages).
See NmeaMessageType for NMEA-0183 messages. If ALL_MESSAGES_ID, set the rate for all messages on the selected interface and protocol.
Definition at line 1731 of file configuration.h.
◆ MESSAGE_TYPE
|
staticconstexpr |
Definition at line 1698 of file configuration.h.
◆ MESSAGE_VERSION
|
staticconstexpr |
Definition at line 1699 of file configuration.h.
◆ output_interface
| InterfaceID point_one::fusion_engine::messages::SetMessageRate::output_interface {TransportType::CURRENT} |
The output interface to configure.
If TransportType::ALL, set rates on all supported interfaces.
Definition at line 1714 of file configuration.h.
◆ protocol
| ProtocolType point_one::fusion_engine::messages::SetMessageRate::protocol = ProtocolType::INVALID |
The message protocol being configured.
If ProtocolType::ALL, set rates on all supported protocols and message_id is ignored.
Definition at line 1720 of file configuration.h.
◆ rate
| MessageRate point_one::fusion_engine::messages::SetMessageRate::rate = MessageRate::OFF |
The desired message rate.
Definition at line 1734 of file configuration.h.
The documentation for this struct was generated from the following file:
- src/point_one/fusion_engine/messages/configuration.h
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