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] |