API Documentation

Messages

Sensor 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. PolySync Data Model Sensor Module. All timestamps are in the standard UTC microsecond time domain unless otherwise specified.

ps_image_data_msg

Image Data Message. Arbitration key member(s): header.src_guid

Image data viewer example.

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_timestamp timestamp Image timestamp.
ps_native_timestamp native_timestamp Native timestamp for the image. Provided by some devices. Check ps_native_timestamp.format for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means not available.
ps_pixel_format_kind pixel_format Image data format.
ps_identifier frame_id Image counter. Value PSYNC_IDENTIFIER_INVALID means not available.
DDS_unsigned_short width Image width. [pixels]
DDS_unsigned_short height Image height. [pixels]
DDS_sequence_char data_buffer Image data buffer.

ps_platform_motion_msg

Platform Motion 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 Sample timestamp.
ps_native_timestamp native_timestamp Native timestamp for the motion data sample. Provided by some devices. Check ps_native_timestamp.format for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means not available.
DDS_double position [3] Position. Value PSYNC_POSITION_NOT_AVAILABLE means given axis component not available. [xyz meters]
DDS_double orientation [4] Orientation quaternion. Value PSYNC_ORIENTATION_NOT_AVAILABLE means given axis component not available. [xyzw quaternion]
DDS_double rotation_rate [3] Rotation rate. Value PSYNC_ROTATION_RATE_NOT_AVAILABLE means given axis component not available. [xyz radians/second]
DDS_double velocity [3] Velocity. Value PSYNC_VELOCITY_NOT_AVAILABLE means given axis component not available. [xyz meters/second]
DDS_double acceleration [3] Acceleration. Value PSYNC_ACCELERATION_NOT_AVAILABLE means given axis component not available. [xyz meters/second^2]
DDS_double heading Heading angle, 0 radians equals North. Value PSYNC_HEADING_NOT_AVAILABLE means not available. [radians]
DDS_double latitude Latitude. Value PSYNC_LATITUDE_NOT_AVAILABLE means not available. [radians]
DDS_double longitude Longitude. Value PSYNC_LONGITUDE_NOT_AVAILABLE means not available. [radians]
DDS_double altitude Longitude. Value PSYNC_ALTITUDE_NOT_AVAILABLE means not available. [meters]

ps_platform_obd_msg

Generic OBD II 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 start_timestamp OBD message timestamp. [microseconds]
ps_native_timestamp native_timestamp Native timestamp for OBD message. Provided by some devices. Check ps_native_timestamp.format for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means not available.
ps_indentifier pid Parameter ID of the OBD response.
ps_parameter_value data The value of the OBD response corresponding to the Parameter ID

ps_imu_msg

IMU 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 Sample timestamp.
ps_native_timestamp native_timestamp Native timestamp for the motion data sample. Provided by some devices. Check ps_native_timestamp.format for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means not available.
DDS_double orientation [4] Orientation quaternion. Value PSYNC_ORIENTATION_NOT_AVAILABLE means given axis component not available. [xyzw quaternion]
DDS_double rotation_rate [3] Rotation rate. Value PSYNC_ROTATION_RATE_NOT_AVAILABLE means given axis component not available. [xyz radians/second]
DDS_double velocity [3] Velocity. Value PSYNC_VELOCITY_NOT_AVAILABLE means given axis component not available. [xyz meters/second]
DDS_double acceleration [3] Acceleration. Value PSYNC_ACCELERATION_NOT_AVAILABLE means given axis component not available. [xyz meters/second^2]

ps_gps_msg

GPS 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 Sample timestamp.
ps_native_timestamp native_timestamp Native timestamp for the motion data sample. Provided by some devices. Check ps_native_timestamp.format for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means not available.
DDS_double heading Heading angle. Zero radians equals North. Value PSYNC_HEADING_NOT_AVAILABLE means not available. [radians]
DDS_double latitude Latitude. Value PSYNC_LATITUDE_NOT_AVAILABLE means not available. [radians]
DDS_double longitude Longitude. Value PSYNC_LONGITUDE_NOT_AVAILABLE means not available. [radians]
DDS_double altitude Longitude. Value PSYNC_ALTITUDE_NOT_AVAILABLE means not available. [meters]
DDS_double speed Speed over ground. Value PSYNC_VELOCITY_NOT_AVAILABLE means not available. [meters]
octet satellite_count Number of satellites.
ps_gps_fix_kind fix Fix kind. Value GPS_FIX_NONE means no fix.

ps_radar_targets_msg

Radar Targets Message This contains a buffer of ps_radar_target data. Arbitration key member(s): header.src_guid

Data generator example

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
sequence< ps_radar_target > targets Radar targets.

ps_lidar_points_msg

Generic LiDAR Points Message Contains a buffer of ps_lidar_point data. Arbitration key member(s): header.src_guid

Data generator example

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
ps_timestamp start_timestamp Scan start timestamp. [microseconds]
ps_timestamp end_timestamp Scan end timestamp. [microseconds]
ps_native_timestamp native_start_timestamp Native timestamp for the scan start. Provided by some devices. Check ps_native_timestamp.format for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means not available.
sequence< ps_lidar_point > points LiDAR points.

ps_objects_msg

Objects Message Contains a buffer of ps_object data. Arbitration key member(s): header.src_guid

Data generator example

Data Type Name Description
ps_msg_header header PolySync message header.
ps_sensor_descriptor sensor_descriptor Sensor descriptor.
sequence< ps_object > objects Objects.

ps_lane_model_msg

Lane Model Message Contains a buffer of ps_lane_model data. 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.
sequence< ps_lane_model > lanes Lane models.

ps_traffic_sign_msg

Traffic Sign Message Contains a buffer of ps_traffic_sign data. 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.
sequence< ps_traffic_sign > signs Traffic signs.

ps_zones_msg

Zone message. Contains a buffer of ps_zone data. 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 start_timestamp The time at which the start of measurement occurred. Value zero means not available. [microseconds]
ps_timestamp end_timestamp The time at which the end of measurement occurred. Value zero means not available. [microseconds]
ps_native_timestamp native_start_timestamp Native timestamp for the scan start. Provided by some devices. Check ps_native_timestamp.format for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means not available.
sequence< ps_zone > zones Zones.