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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
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<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
<title>CCU Messages — IMC v5.4.11 Specification</title>
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<div class="document">
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<div class="body">
<div class="section" id="ccu-messages">
<h1>CCU Messages<a class="headerlink" href="#ccu-messages" title="Permalink to this headline">¶</a></h1>
<div class="section" id="reported-state">
<span id="reportedstate"></span><h2>Reported State<a class="headerlink" href="#reported-state" title="Permalink to this headline">¶</a></h2>
<p>A vehicle state that is reported to other consoles (including PDAConsole). Source can be acoustic tracker, SMS, Wi-Fi, etc…</p>
<ul class="simple">
<li>Abbreviation: ReportedState</li>
<li>Identification Number: 600</li>
<li>Payload Size: 59+ bytes</li>
<li>Message Size: 81+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="10%" />
<col width="7%" />
<col width="18%" />
<col width="6%" />
<col width="50%" />
<col width="10%" />
</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>Latitude</td>
<td>lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Longitude</td>
<td>lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Depth</td>
<td>depth</td>
<td><em>m</em></td>
<td>fp64_t</td>
<td>The reported depth. In the case of not knowing the depth 0 will be reported.
Airplanes usually have negative values (por positive altitude).</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Roll</td>
<td>roll</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>The phi Euler angle from the vehicle’s attitude.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Pitch</td>
<td>pitch</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>The theta Euler angle from the vehicle’s attitude.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Yaw</td>
<td>yaw</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>The psi Euler angle from the vehicle’s attitude.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Reception Time</td>
<td>rcp_time</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>The time when the packet was sent, as seen by the packet
dispatcher. The number of seconds is represented in Universal
Coordinated Time (UCT) in seconds since Jan 1, 1970 using IEEE
double precision floating point numbers.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>System Identifier</td>
<td>sid</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The id of the system whose position is being reported (it can be a vehicle’s id, a boat name, etc)</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Source Type</td>
<td>s_type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#reportedstate-enum-s-type"><span class="std std-ref">Enum Source Type</span></a>)</td>
<td>uint8_t</td>
<td>How the position was received/calculated</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-source-type">
<span id="reportedstate-enum-prefix-stype"></span><span id="reportedstate-enum-s-type"></span><h3>Enum Source Type<a class="headerlink" href="#enum-source-type" title="Permalink to this headline">¶</a></h3>
<p>How the position was received/calculated</p>
<ul class="simple">
<li>Abbreviation: s_type</li>
<li>Prefix: STYPE</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="31%" />
<col width="31%" />
<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>0</td>
<td>Wi-Fi</td>
<td>WI_FI</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Tracker</td>
<td>TRACKER</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>SMS</td>
<td>SMS</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Acoustic Modem</td>
<td>ACOUSTIC_MODEM</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>254</td>
<td>Unknown source</td>
<td>UNKNOWN</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="remote-sensor-info">
<span id="remotesensorinfo"></span><h2>Remote Sensor Info<a class="headerlink" href="#remote-sensor-info" title="Permalink to this headline">¶</a></h2>
<p>Whenever the CUCS receives a message from one of the existing sensors (through SMS, ZigBee, Acoustic Comms, …) it disseminates that info recurring to this message.</p>
<ul class="simple">
<li>Abbreviation: RemoteSensorInfo</li>
<li>Identification Number: 601</li>
<li>Payload Size: 30+ bytes</li>
<li>Message Size: 52+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="5%" />
<col width="5%" />
<col width="5%" />
<col width="4%" />
<col width="73%" />
<col width="8%" />
</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>Id</td>
<td>id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>An unique string that identifies the sensor. Used mostly for logging/presentation.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Class</td>
<td>sensor_class</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>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.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Latitude</td>
<td>lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Longitude</td>
<td>lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Altitude</td>
<td>alt</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Heading</td>
<td>heading</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Custom Data</td>
<td>data</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="map">
<span id="id1"></span><h2>Map<a class="headerlink" href="#map" title="Permalink to this headline">¶</a></h2>
<p>This message represents a simple map that is transferred between CCU consoles (from Neptus to ACCU)</p>
<ul class="simple">
<li>Abbreviation: Map</li>
<li>Identification Number: 602</li>
<li>Payload Size: 4+ bytes</li>
<li>Message Size: 26+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="12%" />
<col width="14%" />
<col width="6%" />
<col width="21%" />
<col width="26%" />
<col width="20%" />
</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>Identifier</td>
<td>id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The id of the map</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Features</td>
<td>features</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#mapfeature"><span class="std std-ref">Map Feature</span></a>)</td>
<td>A list of map features.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="map-feature">
<span id="mapfeature"></span><h2>Map Feature<a class="headerlink" href="#map-feature" title="Permalink to this headline">¶</a></h2>
<p>A feature to appear on the map</p>
<ul class="simple">
<li>Abbreviation: MapFeature</li>
<li>Identification Number: 603</li>
<li>Payload Size: 8+ bytes</li>
<li>Message Size: 30+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="8%" />
<col width="7%" />
<col width="21%" />
<col width="10%" />
<col width="43%" />
<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>Identifier</td>
<td>id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The unique identifier for this feature (used as the name for points of interest)</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>FeatureType</td>
<td>feature_type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#mapfeature-enum-feature-type"><span class="std std-ref">Enum FeatureType</span></a>)</td>
<td>uint8_t</td>
<td>The type of feature</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>RedComponent</td>
<td>rgb_red</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>The red component of the color for this point</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>GreenComponent</td>
<td>rgb_green</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>The green component of the color for this point</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>BlueComponent</td>
<td>rgb_blue</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>The blue component of the color for this point</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Feature</td>
<td>feature</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#mappoint"><span class="std std-ref">MapPoint</span></a>)</td>
<td>The enclosing feature definition.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-featuretype">
<span id="mapfeature-enum-prefix-ftype"></span><span id="mapfeature-enum-feature-type"></span><h3>Enum FeatureType<a class="headerlink" href="#enum-featuretype" title="Permalink to this headline">¶</a></h3>
<p>The type of feature</p>
<ul class="simple">
<li>Abbreviation: feature_type</li>
<li>Prefix: FTYPE</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="5%" />
<col width="15%" />
<col width="11%" />
<col width="69%" />
</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>Point of Interest</td>
<td>POI</td>
<td>These features should appear as a point with a label in the map</td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Filled Polygon</td>
<td>FILLEDPOLY</td>
<td>These features should be represented as a filled polygon (no label)</td>
</tr>
<tr class="row-even"><td>2</td>
<td>Countoured Polygon</td>
<td>CONTOUREDPOLY</td>
<td>These features should be represented as a countoured closed polygon (no fill and no label)</td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Line</td>
<td>LINE</td>
<td>These features should be represented as an open polygon (no label)</td>
</tr>
<tr class="row-even"><td>4</td>
<td>Transponder</td>
<td>TRANSPONDER</td>
<td>A transponder location in the map</td>
</tr>
<tr class="row-odd"><td>5</td>
<td>Start Location</td>
<td>STARTLOC</td>
<td>Intended vehicle’s starting location</td>
</tr>
<tr class="row-even"><td>6</td>
<td>Home Reference</td>
<td>HOMEREF</td>
<td>The offsets reference for this map</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="mappoint">
<span id="id2"></span><h2>MapPoint<a class="headerlink" href="#mappoint" title="Permalink to this headline">¶</a></h2>
<p>This message represents a point in the world.</p>
<ul class="simple">
<li>Abbreviation: MapPoint</li>
<li>Identification Number: 604</li>
<li>Payload Size: 20 bytes</li>
<li>Message Size: 42 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="15%" />
<col width="19%" />
<col width="10%" />
<col width="11%" />
<col width="18%" />
<col width="27%" />
</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>Latitude</td>
<td>lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Longitude</td>
<td>lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Altitude</td>
<td>alt</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="ccu-event">
<span id="ccuevent"></span><h2>CCU Event<a class="headerlink" href="#ccu-event" title="Permalink to this headline">¶</a></h2>
<p>This message is used to signal events among running CCUs.</p>
<ul class="simple">
<li>Abbreviation: CcuEvent</li>
<li>Identification Number: 606</li>
<li>Payload Size: 5+ bytes</li>
<li>Message Size: 27+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="13%" />
<col width="28%" />
<col width="11%" />
<col width="13%" />
<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>Event Type</td>
<td>type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#ccuevent-enum-type"><span class="std std-ref">Enum Event Type</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Identifier</td>
<td>id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Additional Data</td>
<td>arg</td>
<td><em>-</em></td>
<td>message</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-event-type">
<span id="ccuevent-enum-prefix-evt"></span><span id="ccuevent-enum-type"></span><h3>Enum Event Type<a class="headerlink" href="#enum-event-type" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: type</li>
<li>Prefix: EVT</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="8%" />
<col width="52%" />
<col width="26%" />
<col width="15%" />
</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>Log Book Entry Added</td>
<td>LOG_ENTRY</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>2</td>
<td>Plan Added</td>
<td>PLAN_ADDED</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>3</td>
<td>Plan Removed</td>
<td>PLAN_REMOVED</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>4</td>
<td>Plan Changed</td>
<td>PLAN_CHANGED</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>5</td>
<td>Map feature added</td>
<td>MAP_FEATURE_ADDED</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>6</td>
<td>Map feature removed</td>
<td>MAP_FEATURE_REMOVED</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>7</td>
<td>Map feature changed</td>
<td>MAP_FEATURE_CHANGED</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>8</td>
<td>The sender is now teleoperating the vehicle</td>
<td>TELEOPERATION_STARTED</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>9</td>
<td>The sender stopped teleoperating the vehicle</td>
<td>TELEOPERATION_ENDED</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
</div>
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<h3><a href="index.html">Table Of Contents</a></h3>
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<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 current"><a class="current reference internal" href="#">CCU Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#reported-state">Reported State</a></li>
<li class="toctree-l2"><a class="reference internal" href="#remote-sensor-info">Remote Sensor Info</a></li>
<li class="toctree-l2"><a class="reference internal" href="#map">Map</a></li>
<li class="toctree-l2"><a class="reference internal" href="#map-feature">Map Feature</a></li>
<li class="toctree-l2"><a class="reference internal" href="#mappoint">MapPoint</a></li>
<li class="toctree-l2"><a class="reference internal" href="#ccu-event">CCU Event</a></li>
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<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision Messages</a></li>
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