PolySync Core Messages

Messages

Data moves through a PolySync runtime by an application publishing and subscribing messages to the PolySync bus.

PolySync has defined a set of common messages seen on an autonomous vehicle system.

New messages can be created, and existing messages can be extended to facilitate any kind of data. Please see the article on data model generation for an example.

Existing messages in the data model

C Message Name C++ Message Name Data Model Module
ps_byte_array_msg ByteArrayMessage Core
ps_can_frame_msg CanFrameMessage Core
ps_command_msg CommandMessage Core
ps_diagnostic_trace_msg DiagnosticTraceMessage Core
ps_event_msg EventMessage Core
ps_file_msg FileMessage Core
ps_file_transfer_msg FileTransferExtMessage Core
ps_manager_status_msg ManagerStatusMessage Core
ps_parameters_msg ParametersMessages Core
ps_response_msg ResponseMessage Core
ps_rnr_msg RnrMessage Core
ps_rnr_sessions_msg RnrSessionsMessage Core
ps_sdf_state_msg SdfStateMessage Core
ps_platform_brake_command_msg PlatformBrakeCommandMessage Control
ps_platform_brake_report_msg PlatformBrakeReportMessage Control
ps_platform_cabin_report_msg PlatformCabinReportMessage Control
ps_platform_control_msg PlatformControlMessage Control
ps_platform_gear_command_msg PlatformGearCommandMessage Control
ps_platform_gear_report_msg PlatformGearReportMessage Control
ps_platform_steering_command_msg PlatformSteeringCommandMessage Control
ps_platform_steering_report_msg PlatformSteeringReportMessage Control
ps_platform_throttle_command_msg PlatformThrottleCommandMessage Control
ps_platform_throttle_report_msg PlatformThrottleReportMessage Control
ps_platform_tire_pressure_report_msg PlatformTirePressureReportMessage Control
ps_platform_turn_signal_command_msg PlatformTurnSignalCommandMessage Control
ps_platform_suspension_report_msg PlatformSuspensionReportMessage Control
ps_platform_wheel_speed_report_msg PlatformWheelSpeedReportMessage Control
ps_gps_msg GpsMessage Sensor
ps_gps_accuracy_msg GpsAccuracyMessage Sensor
ps_image_data_msg ImageDataMessage Sensor
ps_imu_msg ImuMessage Sensor
ps_imu_accuracy_msg ImuAccuracyMessage Sensor
ps_lidar_points_msg LidarPointsMessage Sensor
ps_lane_model_msg LaneModelMessage Sensor
ps_objects_msg ObjectsMessage Sensor
ps_platform_motion_msg PlatformMotionMessage Sensor
ps_radar_targets_msg RadarTargetsMessage Sensor
ps_traffic_sign_msg TrafficSignMessage Sensor
ps_zone_msg ZonesMessage Sensor

View Active Message Types

View the messages currently being published to the PolySync Core bus using the echo C++ example. This application subscribes to the messages in the data model and prints the filtered data in the terminal.

Build the Echo example and have it listen for all messages on the Core bus.

$ git clone https://github.com/PolySync/PolySync-Core-CPP-Examples
$ cd PolySync-CPP-Examples/Echo
$ mkdir build && cd build
$ cmake .. && make
$ ./polysync-echo -a 

Below is an example of the output when this application is run while Logfile 70802 is active on the Core bus.

Active PolySync Message Types: 
    ps_diagnostic_trace_msg
    ps_lane_model_msg
    ps_parameters_msg
    ps_image_data_msg
    ps_manager_status_msg
    ps_response_msg
    ps_sdf_state_msg
    ps_platform_motion_msg
    ps_file_sync_msg
    ps_rnr_sessions_msg
    ps_lidar_points_msg
    ps_radar_targets_msg
    ps_objects_msg
    ps_rnr_msg
    ps_traffic_sign_msg
    ps_command_msg