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Autonomy.html
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
<title>Autonomy Messages — IMC v5.4.11 Specification</title>
<link rel="stylesheet" href="_static/pydoctheme.css" type="text/css" />
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
<script type="text/javascript">
var DOCUMENTATION_OPTIONS = {
URL_ROOT: './',
VERSION: '5.4.11',
COLLAPSE_INDEX: false,
FILE_SUFFIX: '.html',
HAS_SOURCE: true
};
</script>
<script type="text/javascript" src="_static/jquery.js"></script>
<script type="text/javascript" src="_static/underscore.js"></script>
<script type="text/javascript" src="_static/doctools.js"></script>
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
<link rel="top" title="IMC v5.4.11 Specification" href="index.html" />
<link rel="next" title="Vision Messages" href="Vision.html" />
<link rel="prev" title="CCU Messages" href="CCU.html" />
</head>
<body>
<div class="document">
<div class="documentwrapper">
<div class="bodywrapper">
<div class="body">
<div class="section" id="autonomy-messages">
<h1>Autonomy Messages<a class="headerlink" href="#autonomy-messages" title="Permalink to this headline">¶</a></h1>
<div class="section" id="vehicle-links">
<span id="vehiclelinks"></span><h2>Vehicle Links<a class="headerlink" href="#vehicle-links" title="Permalink to this headline">¶</a></h2>
<p>This message is sent by the TREX task which gives further information to a TREX instance about connected IMC nodes</p>
<ul class="simple">
<li>Abbreviation: VehicleLinks</li>
<li>Identification Number: 650</li>
<li>Payload Size: 4+ bytes</li>
<li>Message Size: 26+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="11%" />
<col width="11%" />
<col width="5%" />
<col width="15%" />
<col width="43%" />
<col width="16%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Local Name</td>
<td>localname</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The name of the vehicle being controlled</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Active Links</td>
<td>links</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="Networking.html#announce"><span class="std std-ref">Announce</span></a>)</td>
<td>A list of Announce messages with last announces heard</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="trex-observation">
<span id="trexobservation"></span><h2>TREX Observation<a class="headerlink" href="#trex-observation" title="Permalink to this headline">¶</a></h2>
<p>This message is sent to TREX to post timeline observations</p>
<ul class="simple">
<li>Abbreviation: TrexObservation</li>
<li>Identification Number: 651</li>
<li>Payload Size: 6+ bytes</li>
<li>Message Size: 28+ bytes</li>
<li>Flags: deprecated</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="14%" />
<col width="17%" />
<col width="16%" />
<col width="13%" />
<col width="16%" />
<col width="24%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Timeline</td>
<td>timeline</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Predicate</td>
<td>predicate</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Attributes</td>
<td>attributes</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="trex-command">
<span id="trexcommand"></span><h2>TREX Command<a class="headerlink" href="#trex-command" title="Permalink to this headline">¶</a></h2>
<p>This message is used to control TREX execution</p>
<ul class="simple">
<li>Abbreviation: TrexCommand</li>
<li>Identification Number: 652</li>
<li>Payload Size: 5+ bytes</li>
<li>Message Size: 27+ bytes</li>
<li>Flags: deprecated</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="9%" />
<col width="21%" />
<col width="7%" />
<col width="45%" />
<col width="12%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Command</td>
<td>command</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#trexcommand-enum-command"><span class="std std-ref">Enum Command</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Goal Id</td>
<td>goal_id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The id of the goal, if applicable (OP == POST_GOAL || OP == RECALL_GOAL)</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Goal XML</td>
<td>goal_xml</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The goal encoded as XML, if applicable (OP == POST_GOAL)</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-command">
<span id="trexcommand-enum-prefix-op"></span><span id="trexcommand-enum-command"></span><h3>Enum Command<a class="headerlink" href="#enum-command" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: command</li>
<li>Prefix: OP</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="39%" />
<col width="25%" />
<col width="23%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Disable TREX</td>
<td>DISABLE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Enable TREX</td>
<td>ENABLE</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Post Goal</td>
<td>POST_GOAL</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Recall Goal</td>
<td>RECALL_GOAL</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>4</td>
<td>Request current plan</td>
<td>REQUEST_PLAN</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>5</td>
<td>Report current plan</td>
<td>REPORT_PLAN</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="trex-operation">
<span id="trexoperation"></span><h2>TREX Operation<a class="headerlink" href="#trex-operation" title="Permalink to this headline">¶</a></h2>
<p>This message is used to control TREX execution</p>
<ul class="simple">
<li>Abbreviation: TrexOperation</li>
<li>Identification Number: 655</li>
<li>Payload Size: 11+ bytes</li>
<li>Message Size: 33+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="8%" />
<col width="18%" />
<col width="11%" />
<col width="46%" />
<col width="11%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Operation</td>
<td>op</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#trexoperation-enum-op"><span class="std std-ref">Enum Operation</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Goal Id</td>
<td>goal_id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The id of the goal, if applicable (OP == POST_GOAL || OP == RECALL_GOAL)</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Token</td>
<td>token</td>
<td><em>-</em></td>
<td>message
(<a class="reference internal" href="#trextoken"><span class="std std-ref">TREX Token</span></a>)</td>
<td>Goal / observation to post, if applicable (OP == POST_GOAL || OP == POST_TOKEN)</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-operation">
<span id="trexoperation-enum-prefix-op"></span><span id="trexoperation-enum-op"></span><h3>Enum Operation<a class="headerlink" href="#enum-operation" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: op</li>
<li>Prefix: OP</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="39%" />
<col width="25%" />
<col width="23%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>1</td>
<td>Post Token</td>
<td>POST_TOKEN</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>2</td>
<td>Post Goal</td>
<td>POST_GOAL</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>3</td>
<td>Recall Goal</td>
<td>RECALL_GOAL</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>4</td>
<td>Request current plan</td>
<td>REQUEST_PLAN</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>5</td>
<td>Report current plan</td>
<td>REPORT_PLAN</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="trex-attribute">
<span id="trexattribute"></span><h2>TREX Attribute<a class="headerlink" href="#trex-attribute" title="Permalink to this headline">¶</a></h2>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: TrexAttribute</li>
<li>Identification Number: 656</li>
<li>Payload Size: 7+ bytes</li>
<li>Message Size: 29+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="10%" />
<col width="9%" />
<col width="25%" />
<col width="7%" />
<col width="37%" />
<col width="13%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Attribute Name</td>
<td>name</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Name of this attribute.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Attribute type</td>
<td>attr_type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#trexattribute-enum-attr-type"><span class="std std-ref">Enum Attribute type</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Minimum</td>
<td>min</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Lower bound of this interval. Empty text means no bound.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Maximum</td>
<td>max</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Upper bound of this interval. Empty text means no bound.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-attribute-type">
<span id="trexattribute-enum-prefix-type"></span><span id="trexattribute-enum-attr-type"></span><h3>Enum Attribute type<a class="headerlink" href="#enum-attribute-type" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: attr_type</li>
<li>Prefix: TYPE</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="36%" />
<col width="26%" />
<col width="25%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>1</td>
<td>Boolean Domain</td>
<td>BOOL</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>2</td>
<td>Integer Domain</td>
<td>INT</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>3</td>
<td>Float Domain</td>
<td>FLOAT</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>4</td>
<td>String Domain</td>
<td>STRING</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>5</td>
<td>Enumerated Domain</td>
<td>ENUM</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="trex-token">
<span id="trextoken"></span><h2>TREX Token<a class="headerlink" href="#trex-token" title="Permalink to this headline">¶</a></h2>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: TrexToken</li>
<li>Identification Number: 657</li>
<li>Payload Size: 6+ bytes</li>
<li>Message Size: 28+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="16%" />
<col width="7%" />
<col width="27%" />
<col width="15%" />
<col width="22%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Timeline</td>
<td>timeline</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Predicate</td>
<td>predicate</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Attributes</td>
<td>attributes</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#trexattribute"><span class="std std-ref">TREX Attribute</span></a>)</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="trex-plan">
<span id="trexplan"></span><h2>TREX Plan<a class="headerlink" href="#trex-plan" title="Permalink to this headline">¶</a></h2>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: TrexPlan</li>
<li>Identification Number: 658</li>
<li>Payload Size: 4+ bytes</li>
<li>Message Size: 26+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="16%" />
<col width="7%" />
<col width="23%" />
<col width="15%" />
<col width="23%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Reactor name</td>
<td>reactor</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Tokens</td>
<td>tokens</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#trextoken"><span class="std std-ref">TREX Token</span></a>)</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="event">
<span id="id1"></span><h2>Event<a class="headerlink" href="#event" title="Permalink to this headline">¶</a></h2>
<p>This message is used for signaling asynchronous events between different (sub) systems.</p>
<ul class="simple">
<li>Abbreviation: Event</li>
<li>Identification Number: 660</li>
<li>Payload Size: 4+ bytes</li>
<li>Message Size: 26+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="13%" />
<col width="12%" />
<col width="10%" />
<col width="39%" />
<col width="19%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Topic</td>
<td>topic</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The name or type of this event</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Data</td>
<td>data</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td>A map with additional event information.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
</div>
</div>
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<h3><a href="index.html">Table Of Contents</a></h3>
<ul class="current">
<li class="toctree-l1"><a class="reference internal" href="Message Format.html">Message Format</a></li>
<li class="toctree-l1"><a class="reference internal" href="Core.html">Core Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Simulation.html">Simulation Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Storage.html">Storage Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Networking.html">Networking Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Acoustic Networking.html">Acoustic Networking Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Sensors.html">Sensors Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Actuation.html">Actuation Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Navigation.html">Navigation Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Guidance.html">Guidance Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Maneuvering.html">Maneuvering Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vehicle Supervision.html">Vehicle Supervision Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Plan Supervision.html">Plan Supervision Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="CCU.html">CCU Messages</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">Autonomy Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#vehicle-links">Vehicle Links</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-observation">TREX Observation</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-command">TREX Command</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-operation">TREX Operation</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-attribute">TREX Attribute</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-token">TREX Token</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-plan">TREX Plan</a></li>
<li class="toctree-l2"><a class="reference internal" href="#event">Event</a></li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="External.html">External Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Development.html">Development Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Custom.html">Custom Messages</a></li>
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