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.
- Note
- When specifying ProtocolType::ALL, message ID ALL_MESSAGES_ID must also be specified. Further, the rate must be set to either MessageRate::OFF or MessageRate::DEFAULT.
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 NMEA message types to 1 Hz on UART1, specify the following:
- Interface transport type: TransportType::SERIAL
- Interface index: 1
- Protocol: ProtocolType::NMEA
- 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 Be Off:
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::OFF
- Note
- This will disable every message.
Change And Save The UART1 Output Rates For All Messages To Be Off:
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::OFF
- 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 2373 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 2378 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 2384 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 2399 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 2407 of file configuration.h.
◆ MESSAGE_TYPE
|
staticconstexpr |
Definition at line 2374 of file configuration.h.
◆ MESSAGE_VERSION
|
staticconstexpr |
Definition at line 2375 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 2390 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.
Definition at line 2396 of file configuration.h.
◆ rate
| MessageRate point_one::fusion_engine::messages::SetMessageRate::rate = MessageRate::OFF |
The desired message rate.
Definition at line 2410 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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