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]