diff --git a/.gitignore b/.gitignore
index a005eb3..061406f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,10 @@
*.py[cod]
.project
-doc/reference
\ No newline at end of file
+doc/reference
+doc/generate2.py
+
+.idea
+.vscode
+
+IMC-*
+*.orig
diff --git a/IMC.xml b/IMC.xml
index 95df30f..fb7330a 100644
--- a/IMC.xml
+++ b/IMC.xml
@@ -1,7 +1,7 @@
@@ -1380,15 +1413,31 @@
+
+
+
+
+ In this case, the Depth value of the ProfileSample message indicates
+ wind direction, in degrees.
+
+
+
+
+ In this case, the Depth value of the ProfileSample message indicates
+ wind direction, in degrees.
+
+
+
+
-
+
Latitude where the profile was calculated.
-
+
Longitude where the profile was calculated.
@@ -1655,7 +1704,7 @@
-
+
@@ -2078,6 +2127,102 @@
+
+
+ Position and configuration of an LBL transponder (beacon). The LBL transponder may be fixed or mobile, depending on TTL value.
+
+
+
+ Name/Label of the acoustic transponder.
+
+
+
+
+ WGS-84 Latitude coordinate.
+
+
+
+
+ WGS-84 Longitude coordinate.
+
+
+
+
+ The beacon's depth.
+
+
+
+
+ Interrogation channel.
+
+
+
+
+ Reply channel.
+
+
+
+
+ Transponder delay.
+
+
+
+
+ Epoch time of this beacon configuration. For *ttl* seconds after this instant, position is estimated
+ to vary according to *vx*, *vy* and *vz*.
+
+
+
+
+ Defines if LBL Beacon is fixed or mobile. If set to 0, LBL Beacon is fixed. Otherwise, it's the time,
+ in seconds, that the current position is considered valid.
+
+
+
+
+ For mobile LBL Beacons. Ground Velocity xx axis velocity component.
+
+
+
+
+ For mobile LBL Beacons. Ground Velocity yy axis velocity component.
+
+
+
+
+ For mobile LBL Beacons. Ground Velocity zz axis velocity component.
+
+
+
+
+
+
+ Long Base Line configuration.
+
+
+
+ Used to define the type of the operation this message holds.
+
+
+ Set the beacons configuration aboard the vehicle.
+
+
+ Request the vehicle to send its current beacons configuration.
+
+
+ Reply from vehicle with its current beacons configuration.
+
+
+ Update the beacons position aboard the vehicle.
+
+
+
+
+ A list of LBL Beacon Configuration Extended messages.
+
+
+
+
Send an acoustic message.
@@ -2255,6 +2400,13 @@
as "transducer not connected".
+
+
+ Request to fragment message over acoustic channel. The message to send
+ is specified by the 'msg' field. Size of fragment is specified in the
+ 'range' field.
+
+
@@ -2382,7 +2534,8 @@
-
+
+
Status description.
@@ -2395,6 +2548,21 @@
+
+
+ Request a system (local or remote) to activate its acoustic release.
+
+
+
+ The name of the system that should execute an acoustic release.
+
+
+
+
+
+
+
+
@@ -2952,7 +3120,7 @@
- Measurement of wind speed.
+ Measurement of relative wind speed. (Meaning without correcting for vehicle effects).
@@ -3060,9 +3228,9 @@
+--------+------------------+-----+
| Section| Flag Label | Bit |
+========+==================+=====+
- | H4.1 | Intensities flag | 0 |
+ | H3.1 | Intensities flag | 0 |
+--------+------------------+-----+
- | H4.2 | Angle step flag | 1 |
+ | H3.2 | Angle step flag | 1 |
+--------+------------------+-----+
.. figure:: ../images/imc_multibeam.png
@@ -3075,8 +3243,8 @@
angle[i] = H2_start_angle + (32-bit sum of D1_angle_step[0] through D1_angle_step[i]) * H4_scaling_factor
- * If bit H4.1 is not set then sections H5 and D3 won't exist.
- * If bit H4.2 is not set then sections H4 and D1 won't exist. In case this bit is set, then the angle steps is read from field "Beam Width" from "Beam Configuration".
+ * If bit H3.1 is not set then sections H5 and D3 won't exist.
+ * If bit H3.2 is not set then sections H4 and D1 won't exist. In case this bit is set, then the angle steps is read from field "Beam Width" from "Beam Configuration".
* The type *uintX_t* will depend on the number of bits per unit, and it should be a multiple of 8.
* Furthermore, for now, 32 bits is the highest value of bits per unit supported.
@@ -3103,6 +3271,7 @@
+
@@ -3146,6 +3315,13 @@
Hardware pulse detection.
+
+
+ The time at which the pulse was dispatched from the original source.
+ Represented in Universal Coordinated Time (UCT) in seconds since Jan 1, 1970 using IEEE
+ double precision floating point numbers.
+
+
@@ -3283,7 +3459,7 @@
- Location of a specific device in the system infrastructure.
+ Location of a specific device in the system's body frame.
@@ -3736,6 +3912,71 @@
returning the tuplelist with the pairs: Action,Type
(operation=REPORT). The type of action can be Axis, Hat or
Button.
+
+ Verbs to use:
+
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Verb | Type | LAUV Use | Verb alternatives | Notes |
+ +===============+==============+==========+============================================+=======================================+
+ | Accelerate | Button | yes | | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Arm | Button | | | Should use ArmState message for state |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Decelerate | Button | yes | | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Disarm | Button | | | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Exit | Button | yes | | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Heading | Axis | yes | Yaw, Rotate, Turning | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Lateral | Axis | | Sway, Sideways | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Pitch | Axis | | | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Roll | Axis | | Bank | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Stop | Button | yes | | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Thrust | Axis | yes | Surge, Forward, Throtle | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | Vertical | Axis | | Heave, Up, Ascende, VerticalRate, Depth, Z | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+ | * | (type) | | | |
+ +---------------+--------------+----------+--------------------------------------------+---------------------------------------+
+
+
+ Special actions for configuration:
+
+ +---------------+-------------------+----------------------------------------------------+
+ | Verb | Special Type | Notes |
+ +===============+===================+====================================================+
+ | Ranges | Decimal, Range127 | Decimal [-1.0; 1.0], Range127[-127; 127] (default) |
+ +---------------+-------------------+----------------------------------------------------+
+
+
+ Types:
+
+ +-------------------+------------------------------------------------------+
+ | Type | Note |
+ +===================+======================================================+
+ | Axis | Axis like (full range) |
+ +-------------------+------------------------------------------------------+
+ | Button | A button (0 for release, 1 for press) |
+ +-------------------+------------------------------------------------------+
+ | Slider | Slider like (full range) |
+ +-------------------+------------------------------------------------------+
+ | HalfSlider | Slider like, but only the positive half of the range |
+ +-------------------+------------------------------------------------------+
+
+ Special Types:
+
+ +--------------+----------------------------------------------------+
+ | Special Type | Notes |
+ +==============+====================================================+
+ | Lock | Specify a Verb to be "locked" |
+ +--------------+----------------------------------------------------+
+
@@ -3743,10 +3984,17 @@
+
+
+ This will serve as a registration of an additional action.
+ It should be used by an internal system entity to register an action to a central
+ registration. This way only one will responde to a QUERY request.
+
+
- Example: "Propulsion=Axis,PanTilt=Hat,Lights=Button"
+ Example: "Propulsion=Axis,Lights=Button,Lights=Lock"
@@ -4056,6 +4304,22 @@
+
+
+ Desired position of a fin.
+
+
+
+ Servo identifier.
+
+
+
+
+ Desired servo position.
+
+
+
+
@@ -7406,7 +7670,7 @@
-
+
A "Sample" is a maneuver specifying a movement of the vehicle to a
target waypoint. The waypoint is described by the WGS-84
@@ -7740,77 +8004,138 @@
-
+
- The Station Keeping Extended maneuver makes the vehicle come to the surface
- and then enter a given circular perimeter around a waypoint coordinate
- for a certain amount of time. It extends the Station Keeping maneuver with the feature
- 'Keep Safe', which allows for the vehicle to hold position underwater and popup periodically
- to communicate.
+ This maneuver follows a direct command given by an external entity.
-
+
- WGS-84 Latitude.
+ The IMC identifier of the source system that is allowed to provide command to this maneuver.
+ If the value ''0xFFFF'' is used, any system is allowed to command references.
-
+
- WGS-84 Longitude.
+ The entity identifier of the entity that is allowed to provide commands to this maneuver.
+ If the value ''0xFF'' is used, any entity is allowed to command references.
-
+
- Maneuver reference in the z axis. Use z_units to specify
- whether z represents depth, altitude or other.
+ The ammount of time, in seconds, after which the maneuver will be terminated if no new command has
+ been received. In other words, the controlling entity should send command updates in shorter periods than
+ 'timeout'.
-
+
+
+
+
+ This message must be sent by an external entity to provide command references to a system
+ running a "Follow Command Maneuver". If no Command messages are transmitted, the system
+ will terminate maneuver.
+
+
+
+
+ Command system to move at speed reference provided in "speed" field in meters per second.
+
+
+
+
+ Command system to move at speed reference provided in "speed" field in revolutions per minute.
+
+
+
+
+ Command system to move at z reference provided in "z" field in depth.
+
+
+
+
+ Command system to move at z reference provided in "z" field in altitude.
+
+
+
+
+ Command system to move at a heading reference provided in "heading" field in radians.
+
+
+
+
+ Command system to move at a heading rate reference provided in "heading" field in radians/s.
+
+
+
+
+ Command system to exit maneuver's execution.
+
+
+
+
- Units of the z reference.
+ The value of the desired speed, in the scale specified by the
+ "flags" field.
-
- Radius.
-
-
- Duration (0 for unlimited).
-
-
+
- The value of the desired speed, in the scale specified
- by the "Speed Units" field.
+ The value of the desired z reference in meters.
-
- Indicates the units used for the speed value.
-
-
+
- The period at which the vehicle will popup to report its position.
- Only used if flag KEEP_SAFE is on.
+ The value of the desired heading angle, relative to true north, in radians,
+ or, the value of the desired heading rate angle, in radians.
-
+
+
+
+
- The duration of the station keeping at surface level when it pops up.
- Only used if flag KEEP_SAFE is on.
+ The IMC identifier of the source system that is allowed to control the vehicle.
+ If the value ''0xFFFF'' is used, any system is allowed to command references.
-
+
- Flags of the maneuver.
+ The entity identifier of the entity that is allowed to control the vehicle.
+ If the value ''0xFF'' is used, any entity is allowed to command references.
-
-
- If this flag is set, the vehicle will hold position underwater, loitering at z reference.
- It will popup periodically to report position. When it pops up, it will stay at surface in "normal" station keeping behaviour for a certain time (popup_duration).
-
-
-
+
+ Command currently being followed.
+
+
- Custom settings for maneuver.
+ Current state of execution.
+
+
+ System is waiting for first command.
+
+
+
+
+ System is moving according with command provided.
+
+
+
+
+ System is stopped. Speed reference is zero.
+
+
+
+
+ Command provided breaks system's physical limitations.
+
+
+
+
+ Maneuver will be terminated since timeout was exceeded.
+
+
@@ -8543,6 +8868,7 @@
+
@@ -8660,6 +8986,35 @@
+
+
+ This message is represents an Asset position / status.
+
+
+
+ The human readable name of the asset.
+
+
+
+
+ Time in seconds since epoch, for the generation instant.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -9717,22 +10072,116 @@
-
-
- State summary for a remote vehicle.
-
- WGS-84 Latitude.
-
-
- WGS-84 Longitude.
-
-
- Depth.
-
-
- Speed.
+
+
+ Small image encoded as several frames (transferable over low bandwidth lossy links).
+
+
+
+
+
+
-
+
+
+
+
+
+
+ Notification of completion of a maneuver (optional use).
+
+
+
+
+
+ The Station Keeping Extended maneuver makes the vehicle come to the surface
+ and then enter a given circular perimeter around a waypoint coordinate
+ for a certain amount of time. It extends the Station Keeping maneuver with the feature
+ 'Keep Safe', which allows for the vehicle to hold position underwater and popup periodically
+ to communicate.
+
+
+
+ WGS-84 Latitude.
+
+
+
+
+ WGS-84 Longitude.
+
+
+
+
+ Maneuver reference in the z axis. Use z_units to specify
+ whether z represents depth, altitude or other.
+
+
+
+
+ Units of the z reference.
+
+
+
+ Radius.
+
+
+ Duration (0 for unlimited).
+
+
+
+ The value of the desired speed, in the scale specified
+ by the "Speed Units" field.
+
+
+
+ Indicates the units used for the speed value.
+
+
+
+ The period at which the vehicle will popup to report its position.
+ Only used if flag KEEP_SAFE is on.
+
+
+
+
+ The duration of the station keeping at surface level when it pops up.
+ Only used if flag KEEP_SAFE is on.
+
+
+
+
+ Flags of the maneuver.
+
+
+
+ If this flag is set, the vehicle will hold position underwater, loitering at z reference.
+ It will popup periodically to report position. When it pops up, it will stay at surface in "normal" station keeping behaviour for a certain time (popup_duration).
+
+
+
+
+
+ Custom settings for maneuver.
+
+
+
+
+
+
+ State summary for a remote vehicle.
+
+ WGS-84 Latitude.
+
+
+ WGS-84 Longitude.
+
+
+ Depth.
+
+
+ Speed.
+
+
Heading.
@@ -10119,6 +10568,109 @@
+
+
+ This message is used to send and receive Janus packets over the acoustic channel, agnostic of underlying modem.
+
+
+
+
+ A sequence identifier that should be incremented for each
+ request. This number will then be used to issue transmission
+ status updates via the message UamTxStatus.
+
+
+
+
+
+ Operation on the Janus packet.
+
+
+
+
+
+
+
+
+
+
+
+
+ Janus baseline packet flags.
+
+
+
+ Indicates that the nature of the transmitting platform is mobile.
+
+
+
+
+ Repeat interval, as specified in the time field.
+
+
+
+
+ Reservation time as specified in the time field.
+
+
+
+
+ Indicates the decode capability of the transmitting platform.
+
+
+
+
+ Indicates the forwarding capability of the transmitting platform.
+
+
+
+
+
+
+ Time of the packet, in seconds. To be interpreted according to the flags.
+ If the REPEAT_INTERVAL flag is set, this field indicates the time interval
+ between packets. If the RESERVATION_TIME flag is set, sthis field indicates
+ the time for the reservation.
+
+
+
+
+
+ Class user id.
+
+
+
+
+
+ Application type.
+
+
+
+
+
+ The Application Data Block corresponding to the baseline packet.
+
+
+
+
+
+ Human-readable error message.
+
+
+
+
+
+ Length of Janus cargo.
+
+
+
+
+
+ Janus cargo, sent after the baseline packet.
+
+
+
+
Formation controller paramenters, as: trajectory gains, control boundary layer thickness, and formation shape gains.
@@ -10321,19 +10873,19 @@
-
+
-
+
-
+
@@ -10352,7 +10904,7 @@
-
+
@@ -10364,12 +10916,54 @@
+
+ This message is used to send a fragment of a message. The
+ fragments are sent in order, and the receiver must reassemble
+ them in the correct order.
+ The receiver can use the MessagePartControl message to inform the sender
+ of the status of the fragment transmission.
+
+
+
+ This message is used by the receiver of MessageParts messages
+ to inform the sender of the status of the reception of a message
+ in fragments.
+ The sender can then use this information to determine which
+ fragments were received and which ones were not.
+ This message is sent in response to a MessagePart message.
+
+
+
+
+
+ The status of the fragment transmission was received.
+
+
+
+
+ The sender is requesting retransmission of the fragments.
+
+
+
+
+
+ Comma-separated list of fragment numbers. Example: "1,2,3".
+ This field is used to inform the sender of the fragments that
+ should be considered. If this field starts with '!', it means
+ that the indicated fragments should not be considered. Example:
+ "!1,2,3" means that all fragments should be considered except
+ 1,2,3. With this field equal to only "!" it means that all
+ fragments must be considered.
+
+
+
+
@@ -10999,11 +11593,1001 @@
-
-
-
- Total Magnetic Field Intensity (TMI)
+
+
+ Reports if the vehicle is charging or not
+
+
+
+
+
+
+
+
+ Measurement of absolute wind speed (Meaning without vehicle effects).
+
+
+
+ Direction of the measured wind speed.
+
+
+
+
+ The value of the wind speed as measured by the sensor.
+
+
+
+
+ Wind turbulence intensity.
+
+
+
+
+
+
+ Message containing static or dynamic AIS data received onboard the vehicle.
+
+
+
+ Integer indicating the message type: 1,2,3,5, ...
+
+
+
+
+ The class of a sensor tells the type of sensor originating this message. It will determine how the sensor is to be shown and (optionally) how the custom data (tuplelist) is to be interpreted.
+
+
+
+
+ An unique string that identifies the sensor/vessel.
+
+
+
+
+
+
+
+
+
+
+
+
+ Distance to own vehicle.
+
+
+
+
+ Size of the vehicle (length = A + B, width = C + D)
+
+
+
+
+
+
+
+
+
+
+ Contains information as extracted from a digital S-57 chart.
+ This can be: location of static objects (buoys, beacons, etc), location and depth of depth contours,
+ location and depth of any other location contained in the chart.
+ For reference see Supervisors/Grounding.
+
+
+
+ Example: "lat=63.46869;lon=10.37790;d=-10"
+
+
+
+
+ Example: "lat=63.46869;lon=10.37790"
+
+
+
+
+
+
+ Component of incremetal position vector over a period of time.
+
+
+
+ The device time.
+
+
+
+
+ X component.
+
+
+
+
+ Y component.
+
+
+
+
+ Z component.
+
+
+
+ Contains a profile of water velocities measured relative to the vehicle
+ velocity, represented in the specified coordinate system.
+
+
+
+ Number of ADCP beams.
+
+
+
+
+ Number of ADCP cells.
+
+
+
+
+ Coordinate system of the velocity measurement.
+
+
+
+
+
+
+
+
+ List of current profile measurement cells.
+
+
+
+
+
+
+ One Current measurement at a specific CellPosition.
+
+
+
+ Distance of each measurment cell along the Z-axis in the coordintate frame.
+
+
+
+
+ List of beams measurements at the current cell level.
+
+
+
+
+
+
+ Measurement from one specific beam at the given CellPosition.
+ Water Velocity is provided in the chosen Coordinate system.
+ Amplitude and Correlation are always in the BEAM coordinate system.
+
+
+
+ Water velocity measured in the chosen coordinate system.
+
+
+
+
+ Amplitude of returning ping for the beam.
+
+
+
+
+ Autocorrelation of returning ping for the beam.
+
+
+
+
+
+
+
+ Frequency value.
+
+
+
+
+
+
+ This message reports various parameters related to ocean wave characteristics, including height, direction, and period.
+
+
+
+ The average height of the highest one-third of waves in a wave spectrum, representing overall sea state.
+
+
+
+
+ The dominant direction from which waves are propagating at their peak energy level.
+
+
+
+
+ The time interval between successive wave crests at the peak energy level.
+
+
+
+
+ The significant wave height generated by wind-driven waves.
+
+
+
+
+ The significant wave height attributed to long-period swells.
+
+
+
+
+ The dominant period of wind-generated waves.
+
+
+
+
+ The dominant period of long-period swells.
+
+
+
+
+ The primary direction of wind-generated waves.
+
+
+
+
+ The primary direction of swell waves.
+
+
+
+
+ The average direction of all waves in the wave spectrum.
+
+
+
+
+ The mean period of ocean waves based on the spectral moment calculation.
+
+
+
+
+ The maximum wave height observed in a given period.
+
+
+
+
+ The height of the highest point of a wave above the mean water level.
+
+
+
+
+ The depth of the lowest point of a wave below the mean water level.
+
+
+
+
+ The longest observed wave period within a given time frame.
+
+
+
+
+ The mean zero-crossing period of waves, an indicator of average wave duration.
+
+
+
+
+ The mean height of the highest one-third of measured waves, commonly used to describe sea conditions.
+
+
+
+
+ The average angular dispersion of wave energy across different directions.
+
+
+
+
+ The first-order measure of directional wave spreading.
+
+
+
+
+ A parameter indicating the degree to which waves are long-crested or short-crested.
+
+
+
+
+ The vessel’s orientation relative to true north.
+
+
+
+
+ The angular motion of the vessel along its transverse axis.
+
+
+
+
+ The angular motion of the vessel along its longitudinal axis.
+
+
+
+
+ The heading measurement obtained from an external source, such as a GPS compass.
+
+
+
+
+ The standard deviation of heading measurements, indicating heading stability.
+
+
+
+
+ The standard deviation of pitch measurements, indicating variability in vessel movement.
+
+
+
+
+ The standard deviation of roll measurements, indicating fluctuations in vessel roll motion.
+
+
+
+
+
+
+ Report a sample stored to disk.
+
+
+
+ Type of event.
+
+
+
+
+
+
+
+
+ File name this event is related to.
+
+
+
+
+
+ Request to check gsm credit
+
+
+
+
+ Signals that an object has been detected by any of the vehicle's sensors
+
+
+
+
+
+
+ Type of event.
+
+
+
+
+
+
+
+
+
+
+ Current state of a GPIO.
+
+
+
+ GPIO Name.
+
+
+
+
+ Logical level of the GPIO.
+
+
+
+
+
+
+ Request the state of a given GPIO. The receiving entity shall reply
+ with a GpioState message.
+
+
+
+ GPIO Name.
+
+
+
+
+
+
+ Set the state of a given GPIO. The receiving entity shall reply
+ with a GpioState message.
+
+
+
+ GPIO Name.
+
+
+
+
+ Logical level of the GPIO.
+
+
+
+
+
+
+ Colored Dissolved Organic Matter measurement.
+
+
+
+ Colored Dissolved Organic Matter reading.
+
+
+
+
+
+
+ Fluorescent Dissolved Organic Matter measurement.
+
+
+
+ Fluorescent Dissolved Organic Matter reading.
+
+
+
+
+
+
+ The request identifier used to receive transmission updates.
+
+
+ Time, in seconds, after which there will be no more atempts to transmit the message.
+
+
+ Time in seconds since the Unix Epoch after which the recipient shall discard the message.
+
+
+ The unique identifier of this message's destination (e.g. lauv-xtreme-2, manta-0).
+
+
+
+ Message data.
+
+
+
+
+
+
+ Total Magnetic Field Intensity (TMI)
+
+
+
+
+
+ Use to validate plans
+
+
+
+ Type of request.
+
+
+
+
+
+
+
+ An inline plan specification to be used both in requests and replies.
+
+
+
+
+
+ This message is used to restrict the vehicle from using some communication means.
+
+ The restricted communication means.
+
+
+
+
+
+
+ Textual description for why this restriction is needed.
+
+
+
+
+ This message is used to log wifi connection statistics, heavily influenced by the stats available in ubiquiti radios.
+
+ MAC address of the associated radio.
+
+
+ Last IP address of the associated radio.
+
+
+ Client Connection Quality indicator
+
+
+ Noise Floor (measure of the signal created from the sum of all the noise sources
+ and unwanted signals within a measurement system, where noise is defined as any signal other
+ than the one being monitored).
+
+
+
+ Measure of the signal of the associated radio.
+
+
+ Received Signal Strength Indicator, in arbitraty units. The bigger the RSSI, the better
+ the connection quality.
+
+
+ Reception data rate for the associated radio, -1 if not available.
+
+
+ Transmission data rate for the associated radio, -1 if not available.
+
+
+ Latency of transmission to the associated radio, -1 if not available.
+
+
+ Power of transmission to the associated radio, -1 if not available.
+
+
+ Amount of bytes already received from the associated radio.
+
+
+ Amount of bytes already transmitted to the associated radio.
+
+
+ Distance for the associated radio, -1 if not available.
+
+
+
+
+ This message is used to log wifi networks in the surroundings.
+
+ Extended Service Set Identifier of the network
+
+
+ MAC Address of the network.
+
+
+
+
+
+
+
+
+
+
+
+ Information regarding a sent/received Sonar pulse.
+
+
+
+ Frequency of the sent/received sonar pulse.
+
+
+
+
+ Pulse Length of the sonar pulse.
+
+
+
+
+ Time Delay of the sonar pulse.
+
+
+
+
+ Doppler shift added to the sonar pulse in retransmission
+
+
+
+
+
+ Used to request/reply a health check of a system
+
+
+ Operation to perform. OP.REQUEST should start the HealthCheck.
+ Use OP.REPLY to report the progress.
+ OP.QUERY asks if the task implements health checking.
+ Upon receiving OP.Query, reply with OP.REPLY and STATUS.IMP or STATUS.NOT_IMP.
+
+
+
+
+
+
+ Echoes the request_id in the request
+
+
+ Entity Label of the task that's replying to the request
+
+
+ Health status of the entity
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Textual description of the health status
+
+
+
+
+ This message can be used to query/report the entities and respective parameters in the system
+
+
+ Operation to perform.
+
+
+
+
+
+ Echoes the request_id in the request
+
+
+ Entity Label of the task that's replying to the request
+
+
+ Contains an optionally defined List of TypedEntityParameter as a response to a TypedEntityParamaters Request.
+
+
+
+
+
+ Entity parameter with all the data that defines an entity parameter.
+
+
+
+ Name of the parameter.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Default value of the parameter.
+
+
+
+
+ The units of the field, if applicable
+
+
+
+
+ Description of the parameter
+
+
+
+
+ Comma-separated list of possible values
+
+
+
+
+ Optional. Min value of the parameter
+
+
+
+
+ Optional. Max value of the parameter
+
+
+
+
+ When the parameter is a list, list_min_size indicates the minimum size of the list
+
+
+
+
+ When the parameter is a list, list_max_size indicates the maximum size of the list
+
+
+
+
+ A list of ValuesIf messages
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ This message is used to describe the ValuesIf content of a TypedEntityParameter.
+
+ Name of parameter to compare
+
+
+ Value to compare
+
+
+ List of possible values if param=value
+
+
+
+
+
+ This message contains the data acquired by a single sonar measurement whose angle can be controlled.
+
+
+
+ Pose of this sonar measurement, in relation to the body frame.
+
+
+
+
+ Data acquired by the measurement.
+
+
+
+
+
+
+ This message is sent when a maneuver is stoped, describing how it could be resumed to completion later.
+
+
+
+ ID of the maneuver that was stopped.
+
+
+
+
+ List of maneuvers that can be executed to resume the stopped maneuver.
+
+
+
+
+
+
+ This message is used to query / report version information related to an entity.
+
+
+
+ Operation to perform.
+
+
+
+ Report the entity list.
+
+
+
+
+ Request the entity list.
+
+
+
+
+
+ Version of the entity.
+
+
+
+
+ Description of the entity.
+
+
+
+
+
+
+ This message is used to report the cumulative heading value.
+
+
+
+ Cumulative heading value, in radians.
+
+
+
+
+
+
+ This message is used to report the number of satellites in view per constellation. The constellation should be provided by the Entity label.
+
+
+
+ Number of satellites in view.
+
+
+
+
+
+ GNSS debug information
+
+
+ Probability of jamming, provided by the GNSS jamming indicator
+
+
+
+
+ Jamming Status
+
+
+ Jamming/interference monitor not enabled, uninitializedor antenna disconnected
+
+
+
+ no interference detected
+
+
+ position ok but interference is visible (above thethresholds)
+
+
+ no reliable position fix and interference is visible (above the thresholds); interference is probable reason why there is no fix
+
+
+
+ RF noise level as seen by the GNSS core
+
+
+ Status of the antenna
+
+ Initializing
+
+
+ Unknown
+
+
+ OK
+
+
+ Short
+
+
+ Open
+
+
+
+ Status of the antenna power
+
+ Antenna powered off
+
+
+ Antenna powered on
+
+
+ Antenna state unknown
+
+
+
+
+
+ Logs the commanded pulse width for motors or servos.
+ Use the entity label to identify the channel.
+
+
+
+ The commanded pulse width in microseconds.
+
+
+
+
+
+
+ Report of specific conductance.
+
+
+
+ The value of the specific conductance (temperature compensated conductivity).
+
+
+
+
+
+
+ Ammonia (NH3) measurement.
+
+
+
+ Ammonia (NH3) reading.
+
+
+
+
+
+
+ Ammonium (NH4) measurement.
+
+
+
+ Ammonium (NH4) reading.
+
+
+
+
+
+
+ Nitrate (NO3) measurement.
+
+
+
+ Nitrate (NO3) reading.
+
+
+
+
+
+
+ Nitrate-N (NO3-N) measurement.
+
+
+
+ Nitrate-N (NO3-N) reading.
+
+
+
+
+
+
+ Chloride measurement.
+
+
+
+ Chloride reading.
+
+
+
+
+
+
+ Total Dissolved Solids measurement.
+
+
+
+ Total Dissolved Solids reading.
+
+
+
+
+
+
+ Total Suspended Solids measurement.
+
+
+
+ Total Suspended Solids reading.
+
+
+
+
+
+
+ Non-linear Function Conductivity (nLF).
+
+
+
+ The value of the non-linear function conductivity.
+
+
+
+