API Documentation

Messages

Control Module Messages This document contains the most current PolySync standard message set. The user has the ability to add to this data model, but the following messages ship with every PolySync distribution.

ps_platform_control_msg

Generic high-level platform control message. Arbitration key member(s): header.src_guid, dest_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_guid dest_guid Destination GUID. Value PSYNC_GUID_INVALID means not used.
ps_timestamp timestamp Timestamp associated with the control command(s). [UTC microsecond]
DDS_octet e_stop Emergency stop state. Value PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.
DDS_float speed Desired speed. Value zero means stopped. [meters/second]
DDS_float acceleration_limit Desired acceleration limit. Value zero means no limit. [meters/second^2]
DDS_float deceleration_limit Desired deceleration limit. Value zero means no limit. [meters/second^2]
DDS_float curvature Desired steering curvature. Value zero means straight ahead. [1/meters]
DDS_float max_curvature_rate Desired maximum steering curvature rate. [1/meters^2]

ps_platform_brake_command_msg

Generic platform brake command message. Arbitration key member(s): header.src_guid, dest_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_guid dest_guid Destination GUID. Value PSYNC_GUID_INVALID means not used.
ps_timestamp timestamp Timestamp associated with the control command(s). [UTC microsecond]
DDS_octet e_stop Emergency stop state. Value PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.
DDS_octet enabled Desired brake enabled state. Value zero means disabled. Any other value means enabled.
DDS_octet boo_enabled Desired brake on-off (brake lights) state. Value zero means disabled. Any other value means enabled.
ps_brake_command_kind brake_command_type Brake command kind. Indicates what type of brake command to apply. Value BRAKE_COMMAND_INVALID means no brake command applied.
DDS_float brake_command Desired brake pedal command value. Specifies pedal percentage (normalized) when brake_command_type set to BRAKE_COMMAND_PEDAL. Specifies percentage of maximum torque (normalized) when brake_command_type set to BRAKE_COMMAND_PERCENT. Value zero means no brake applied. [normalized]

ps_platform_brake_report_msg

Generic platform brake report message. Arbitration key member(s): header.src_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_timestamp timestamp Timestamp associated with the report. [UTC microsecond]
DDS_octet e_stop Emergency stop state. Value PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.
ps_platform_control_mode_kind control_mode Brake control mode
DDS_octet enabled Brake enabled state. Value zero means disabled. Any other value means enabled.
DDS_float pedal_input Brake pedal input value. [normalized]
DDS_float pedal_command Brake pedal command value. [normalized]
DDS_float pedal_output Brake pedal output value. [normalized]
DDS_float torque_input Braking torque input value. [Newton meter]
DDS_float torque_command Braking torque command value. [Newton meter]
DDS_float torque_output Braking torque output value. [Newton meter]

ps_platform_throttle_command_msg

Generic platform throttle command message. Arbitration key member(s): header.src_guid, dest_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_guid dest_guid Destination GUID. Value PSYNC_GUID_INVALID means not used.
ps_timestamp timestamp Timestamp associated with the control command(s). [UTC microsecond]
DDS_octet e_stop Emergency stop state. Value PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.
DDS_octet enabled Desired throttle enabled state. Value zero means disabled. Any other value means enabled.
ps_throttle_command_kind throttle_command_type Throttle command kind. Indicates what type of throttle command to apply. Value THROTTLE_COMMAND_INVALID means no brake command applied.
DDS_float throttle_command Desired throttle pedal command value. Specifies pedal percentage (normalized) when throttle_command_type set to THROTTLE_COMMAND_PEDAL. Specifies percentage of maximum throttle (normalized) when throttle_command_type set to THROTTLE_COMMAND_PERCENT. Value zero means no throttle applied. [normalized]

ps_platform_throttle_report_msg

Generic platform throttle report message. Arbitration key member(s): header.src_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_timestamp timestamp Timestamp associated with the report. [UTC microsecond]
DDS_octet e_stop Emergency stop state. Value PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.
ps_platform_control_mode_kind control_mode Throttle control mode. Value PLATFORM_CONTROL_MODE_MANUAL means throttle controls are applied by the driver. Value PLATFORM_CONTROL_MODE_AUTONOMOUS means throttle controls are autonomously applied.
DDS_octet enabled Throttle enabled state. Value zero means disabled. Any other value means enabled.
DDS_float pedal_input Throttle pedal input value. [normalized]
DDS_float pedal_command Throttle pedal command value. [normalized]
DDS_float pedal_output Throttle pedal output value. [normalized]

ps_platform_steering_command_msg

Generic platform steering command message. Arbitration key member(s): header.src_guid, dest_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_guid dest_guid Destination GUID. Value PSYNC_GUID_INVALID means not used.
ps_timestamp timestamp Timestamp associated with the control command(s). [UTC microsecond]
DDS_octet e_stop Emergency stop state. Value PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.
DDS_octet enabled Desired steering enabled state. Value zero means disabled. Any other value means enabled.
ps_steering_command_kind steering_command_kind Steering command kind. Indicates what type of steering command to apply. Value STEERING_COMMAND_INVALID means no steering command applied.
DDS_float steering_wheel_angle Desired steering wheel angle. Used when steering_command_kind set to STEERING_COMMAND_ANGLE. Value zero means straight ahead. [radians]
DDS_float max_steering_wheel_rotation_rate Desired maximum steering wheel rotation rate. [radians/second]

ps_platform_steering_report_msg

Generic platform steering report message. Arbitration key member(s): header.src_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_timestamp Timestamp Timestamp associated with the report. [UTC microsecond]
DDS_octet e_stop Emergency stop state. Value PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.
ps_platform_control_mode_kind control_mode Steering control mode. Value PLATFORM_CONTROL_MODE_MANUAL means steering controls are applied by the driver. Value PLATFORM_CONTROL_MODE_AUTONOMOUS means steering controls are autonomously applied.
DDS_octet enabled Steering enabled state. Value zero means disabled. Any other value means enabled.
DDS_float steering_wheel_angle Steering wheel angle. [radians]
DDS_float steering_wheel_angle_command Steering wheel command angle. [radians]
DDS_float steering_wheel_torque Steering wheel torque. [Newton meters]

ps_platform_gear_command_msg

Generic platform gear command message. Arbitration key member(s): header.src_guid, dest_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_guid dest_guid Destination GUID. Value PSYNC_GUID_INVALID means not used.
ps_timestamp timestamp Timestamp associated with the control command(s). [UTC microsecond]
DDS_octet e_stop Emergency stop state. Value PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.
ps_gear_position_kind gear_position Desired gear position. Value GEAR_POSITION_INVALID means no gear command applied.

ps_platform_gear_report_msg

Generic platform gear report message. Arbitration key member(s): header.src_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_timestamp Timestamp Timestamp associated with the report. [UTC microsecond]
DDS_octet e_stop Emergency stop state. Value PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.
ps_platform_control_mode_kind control_mode Gear control mode. Value PLATFORM_CONTROL_MODE_MANUAL means gear position controls are applied by the driver. Value PLATFORM_CONTROL_MODE_AUTONOMOUS means gear position controls are autonomously applied.
ps_gear_position_kind position Gear position.
ps_gear_position_kind position_command Gear position command.

ps_platform_turn_signal_command_msg

Generic platform turn signal command message. Arbitration key member(s): header.src_guid, dest_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_guid dest_guid Destination GUID. Value PSYNC_GUID_INVALID means not used.
ps_timestamp timestamp Timestamp associated with the control command(s). [UTC microsecond]
DDS_octet e_stop Emergency stop state. Value PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.
ps_platform_turn_signal_kind turn_signal Desired turn signal state. Value PLATFORM_TURN_SIGNAL_INVALID means no turn signal command applied.

ps_platform_cabin_report_msg

Generic platform cabin report message. Arbitration key member(s): header.src_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_timestamp timestamp Timestamp associated with the report. [UTC microsecond]
DDS_octet e_stop Emergency stop state. Value PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.
ps_platform_turn_signal_kind turn_signal Turn signal state.
DDS_octet high_beam_headlights High beam headlight state. Value zero means disabled. Any other value means enabled.
ps_platform_wiper_state_kind wiper_state Wiper state.

ps_platform_suspension_report_msg

Generic platform suspension report message. Arbitration key member(s): header.src_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_timestamp timestamp Timestamp associated with the report. [UTC microsecond]
DDS_float front_left Front left suspension height. [meters]
DDS_float front_right Front right suspension height. [meters]
DDS_float rear_left Rear left suspension height. [meters]
DDS_float rear_right Rear right suspension height. [meters]

ps_platform_tire_pressure_report_msg

Generic platform tire pressure report message. Arbitration key member(s): header.src_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_timestamp Timestamp Timestamp associated with the report. [UTC microsecond]
DDS_float front_left Front left tire pressure. [Pascals]
DDS_float front_right Front right tire pressure. [Pascals]
DDS_float rear_left Rear left tire pressure. [Pascals]
DDS_float rear_right Rear right tire pressure. [Pascals]

ps_platform_wheel_speed_report_msg

Generic platform wheel speed report message. Arbitration key member(s): header.src_guid

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_timestamp timestamp Timestamp associated with the report. [UTC microsecond]
DDS_float front_left Front left wheel speed. [radians/second]
DDS_float front_right Front right wheel speed. [radians/second]
DDS_float rear_left Rear left wheel speed. [radians/second]
DDS_float rear_right Rear right wheel speed. [radians/second]