API Documentation

Structures

Core Module Data Structures

ps_parameter_value

Parameter value.

Data Type Name Description
Data Fields DDS_unsigned_long long ull_value DDS_unsigned_long long.
DDS_long_long ll_value DDS_long_long.
DDS_double d_value double.
DDS_sequence_char str_value string.

ps_version

PolySync version data.

Data Type Name Description
DDS_octet major Major version digit.
DDS_octet minor Minor version digit.
DDS_unsigned_short subminor Sub-minor digit.
DDS_unsigned_long build_date Build date. [UTC seconds]

ps_native_timestamp

Native timestamp.

Data Type Name Description
DDS_octet format Timestamp format. Value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means invalid.
DDS_unsigned_long long value Timestamp value.

ps_msg_header

Message header.

Data Type Name Description
ps_msg_type type Message type identifier.
ps_timestamp timestamp Message timestamp. [ microseconds ]
ps_guid src_guid Message producer’s GUID.

ps_parameter

Parameter.

ps parameter example.

Data Type Name Description
ps_parameter_id id Parameter ID. Value PSYNC_PARAM_ID_INVALID means invalid. Value PSYNC_PARAM_ID_ALL means apply to all (get/set).
ps_timestamp timestamp Measurement timestamp.
ps_parameter_value value Parameter value, union of supported types, discriminator is in value type.
ps_parameter_value min Parameter minimum value, union of supported types, discriminator is in value type. If discriminator is PARAMETER_VALUE_UNKNOWN, then not supported.
ps_parameter_value max Parameter maximum value, union of supported types, discriminator is in value type. If discriminator is PARAMETER_VALUE_UNKNOWN, then not supported.
ps_parameter_value step Parameter step value, union of supported types, discriminator is in value type. If discriminator is PARAMETER_VALUE_UNKNOWN, then not supported.
DDS_octet flags Flags for the parameter, i.e. PSYNC_PARAMETER_FLAG_READONLY set by a response.
DDS_sequence_char description String description, not mandated, usually set by a response to PARAMETER_MESSAGE_GET_ALL.

ps_diagnostic_state

Diagnostic state.

ps_diagnostic_state examples:

can_reader, can_writer, data_generator, get_set, node_template, and publish_subscribe.

Data Type Name Description
ps_timestamp timestamp State transition timestamp. [ microseconds ]
ps_guid src_guid Source GUID.
ps_node_state_kind node_state State of the node with respect to the PolySync state machine.
ps_node_flags node_flags Node flags for operating mode and status.
ps_dtc dtc Diagnostic trouble code, if active.

ps_sdf_parameter_value

SDF parameter value data. This represents a container for the SDF parameter value data.

Data Type Name Description
DDS_unsigned_long id SDF Primary Key. Value PSYNC_SDF_ID_INVALID means invalid.
DDS_unsigned_long parameter_list_id Foreign key pointing to the parent parameter list.
DDS_unsigned_long parameter_description_id Foreign key pointing to the associated parameter description.
ps_parameter parameter Parameter associated with key in SDF.

ps_sdf_parameter_value

SDF parameter value data. This represents a container for the SDF parameter value data.

Data Type Name Description
DDS_unsigned_long id SDF Primary Key. Value PSYNC_SDF_ID_INVALID means invalid.
DDS_unsigned_long parameter_list_id Foreign key pointing to the parent parameter list.
DDS_unsigned_long parameter_description_id Foreign key pointing to the associated parameter description.
ps_parameter parameter Parameter associated with key in SDF.

ps_sdf_io_configuration

SDF parameter value data. This represents a container for the SDF parameter value data.

Data Type Name Description
DDS_unsigned_long id SDF Primary Key. Value PSYNC_SDF_ID_INVALID means invalid.
DDS_unsigned_long sensor_configuration_id SDF Primary Key. Value PSYNC_SDF_ID_INVALID means invalid.
DDS_unsigned_long parameter_list_id Foreign key pointing to the associated parameter list.
DDS_sequence_char name Name of the IO configuration.
DDS_sequence_ps_sdf_parameter_value parameter_values List of additional SDF parameter values associated with the IO configuration.

ps_sdf_sensor_descriptor

SDF sensor descriptor data. This will represent a container for SDF sensor description data. This data falls outside the typical SDF hierarchy, however it is useful for determining the sensor type identifier value for a given sensor name.

Data Type Name Description
ps_sensor_kind sensor_type Primary key in the SDF.
DDS_sequence_char name Name of the sensor, following license model.
DDS_sequence_char description Description of the sensor.

ps_sdf_sensor_configuration

SDF sensor configuration data. This will represent a container for the SDF sensor configuration data.

Data Type Name Description
DDS_unsigned_long id SDF Primary Key. Value PSYNC_SDF_ID_INVALID means invalid.
DDS_unsigned_long node_configuration_id Foreign key pointing to associated node.
DDS_unsigned_long parameter_list_id Foreign key pointing to the associated parameter list.
DDS_unsigned_long sensor_type_id SDF Primary Key. Value PSYNC_SDF_ID_INVALID means invalid.
DDS_sequence_char name Name of the sensor configuration.
sequence< ps_sdf_io_configuration > io_configs List of SDF IO configurations.
DDS_sequence_ps_sdf_parameter_value parameter_values List of additional SDF parameter values associated with the sensor configuration.

ps_sdf_node_configuration

SDF node configuration data. This will represent a container for the SDF node configuration data.

Data Type Name Description
DDS_unsigned_long id SDF Primary Key. Value PSYNC_SDF_ID_INVALID means invalid.
DDS_unsigned_long host_configuration_id Foreign key pointing to associated runtime.
DDS_unsigned_long parameter_list_id Foreign key pointing to the associated parameter list.
DDS_octet enabled Enabled flag, zero means not enabled.
DDS_sequence_char name Name of node.
sequence< ps_sdf_io_configuration > sensor_configs List of SDF sensor configurations.
DDS_sequence_ps_sdf_parameter_value parameter_values List of additional SDF parameter values associated with the node configuration.

ps_sdf_host_configuration

SDF host configuration data. This will represent a container for the SDF host configuration data.

Data Type Name Description
DDS_unsigned_long id SDF Primary Key. Value PSYNC_SDF_ID_INVALID means invalid.
DDS_unsigned_long runtime_configuration_id Foreign key pointing to associated runtime.
DDS_unsigned_long parameter_list_id Foreign key pointing to the associated parameter list.
DDS_octet enabled Enabled flag, zero means not enabled.
DDS_sequence_char Name Name of host.
DDS_sequence_char interface_address PolySync interface address, format “X.X.X.X” or “AUTO.”
DDS_sequence_char license_file license_file.
DDS_sequence_char rnr_base_dir Absolute path to RnR base directory.
DDS_sequence_ps_sdf_node_configuration node_configs List of SDF node configurations.
DDS_sequence_ ps_sdf_parameter_value parameter_values List of additional SDF parameter values associated with the host configuration.

ps_sdf_runtime_configuration

SDF runtime configuration data.

Data Type Name Description
DDS_unsigned_long id SDF Primary Key. Value PSYNC_SDF_ID_INVALID means invalid.
DDS_unsigned_long parameter_list_id Foreign key pointing to associated runtime.
DDS_unsigned_long parameter_list_id Foreign key pointing to the associated parameter list.
DDS_sequence_char name Name of the runtime configuration.
DDS_unsigned_long domain_id Domain ID this runtime operates under.
DDS_sequence_char api_version PolySync API version.
DDS_sequence_ps_sdf_host_configuration host_configs List of SDF host configurations.
DDS_sequence_ ps_sdf_parameter_value parameter_values List of additional SDF parameter values associated with the runtime configuration.

ps_transform_descriptor

Transform descriptor. This describes a PolySync transformation. See polysync_transform.h for more information.

Data Type Name Description
ps_identifier id Coordinate frame identifier. Value PSYNC_COORDINATE_FRAME_INVALID means invalid.
ps_timestamp timestamp Last update timestamp.
DDS_double origin [3] Origin position. [xyz meters]
DDS_double orientation [4] Orientation quaternion. [xyzw quaternion]

ps_transform_stack

Transform stack.

Data Type Name Description
ps_identifier parent_id Parent coordinate frame identifier. Value PSYNC_COORDINATE_FRAME_INVALID means invalid.
ps_timestamp timestamp Last update timestamp of the parent and/or any of its children transformations.
DDS_sequence_ps_transform_descriptor stack Transformation stack.

ps_rnr_logfile_attributes

PolySync logfile (.plog) attributes. Describes a PolySync logfile.

Record and replay example.

Data Type Name Description
DDS_sequence_char filename File name.
DDS_sequence_char absolute_path Absolute path to the file, including the file name.
DDS_sequence_char node_name Name of the node who created the file.
ps_guid node_guid GUID of the node that created the file.
ps_timestamp start_time First timestamp in the file. [UTC microseconds]
ps_timestamp end_time Last timestamp in the file. [UTC microseconds]
ps_timestamp duration File duration. [microseconds]
DDS_unsigned_long file_size File size. [bytes]
DDS_unsigned_long record_offset Offset of the first record in the file. [bytes]
DDS_unsigned_long record_count Number of record entries in the file.

ps_rnr_session

PolySync Record and Replay session. This describes a PolySync RnR session.

Record and replay example.

Data Type Name Description
ps_rnr_session_id id Session identifier. Value PSYNC_RNR_SESSION_ID_INVALID means invalid. This usually represents the UTC timestamp when the session was created, however arbitrary values are allowed.
sequence< ps_rnr_logfile_attributes > logfile_attributes Logfile attributes associated with the RnR session.

ps_runtime_node_status

PolySync Manager runtime node status. This describes a PolySync runtime node as seen by the Manager node.

Data Type Name Description
ps_identifier process_id The node’s process identifier. Value PSYNC_IDENTIFIER_INVALID means the node is not currently running.
ps_dtc dtc Diagnostic trouble code associated with the process status.
DDS_unsigned_long sdf_node_id SDF node configuration primary key. Value PSYNC_SDF_ID_INVALID means invalid.
DDS_sequence_char name Name of the node as defined in the SDF node configuration.
DDS_octet replay_mode Flag indicating the node is in replay mode. Value zero means not in replay mode. Value one means the node is running in replay mode.