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Plan Supervision.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>Plan Supervision Messages — IMC v5.4.11 Specification</title>
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<body>
<div class="document">
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<div class="body">
<div class="section" id="plan-supervision-messages">
<h1>Plan Supervision Messages<a class="headerlink" href="#plan-supervision-messages" title="Permalink to this headline">¶</a></h1>
<div class="section" id="abort">
<span id="id1"></span><h2>Abort<a class="headerlink" href="#abort" title="Permalink to this headline">¶</a></h2>
<p>Stops any executing actions and put the system in a standby mode.</p>
<ul class="simple">
<li>Abbreviation: Abort</li>
<li>Identification Number: 550</li>
<li>Payload Size: 0 bytes</li>
<li>Message Size: 22 bytes</li>
</ul>
<p>This message has no fields.</p>
</div>
<div class="section" id="plan-specification">
<span id="planspecification"></span><h2>Plan Specification<a class="headerlink" href="#plan-specification" title="Permalink to this headline">¶</a></h2>
<p>Identity and description of a plan’s general parameters,
associated with plan loading (i.e. load plan command in
<em>PlanCommand</em>).</p>
<p>A plan specification is defined by a plan identifier, a set of
maneuver specifications and a start maneuver from that set.</p>
<p>See the <a class="reference internal" href="#planmaneuver"><span class="std std-ref">Plan Maneuver</span></a> message for details on maneuver
specification.</p>
<ul class="simple">
<li>Abbreviation: PlanSpecification</li>
<li>Identification Number: 551</li>
<li>Payload Size: 18+ bytes</li>
<li>Message Size: 40+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="10%" />
<col width="4%" />
<col width="17%" />
<col width="43%" />
<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>Plan ID</td>
<td>plan_id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The plan’s identifier.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Plan Description</td>
<td>description</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Verbose text description of plan.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Namespace</td>
<td>vnamespace</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Namespace for plan variables.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Plan Variables</td>
<td>variables</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#planvariable"><span class="std std-ref">Plan Variable</span></a>)</td>
<td>Plan variables.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Starting maneuver</td>
<td>start_man_id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Indicates the id of the starting maneuver for this plan.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Maneuvers</td>
<td>maneuvers</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#planmaneuver"><span class="std std-ref">Plan Maneuver</span></a>)</td>
<td>List of maneuver specifications.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Transitions</td>
<td>transitions</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#plantransition"><span class="std std-ref">Plan Transition</span></a>)</td>
<td>List of maneuver specifications.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Start Actions</td>
<td>start_actions</td>
<td><em>-</em></td>
<td>message-list</td>
<td>Contains an optionally defined ‘MessageList’ for actions fired
on plan activation.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>End Actions</td>
<td>end_actions</td>
<td><em>-</em></td>
<td>message-list</td>
<td>Contains an optionally defined ‘MessageList’ for actions fired
on plan termination.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="plan-maneuver">
<span id="planmaneuver"></span><h2>Plan Maneuver<a class="headerlink" href="#plan-maneuver" title="Permalink to this headline">¶</a></h2>
<p>Named plan maneuver.</p>
<ul class="simple">
<li>Abbreviation: PlanManeuver</li>
<li>Identification Number: 552</li>
<li>Payload Size: 8+ bytes</li>
<li>Message Size: 30+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="10%" />
<col width="4%" />
<col width="13%" />
<col width="43%" />
<col width="14%" />
</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>Maneuver ID</td>
<td>maneuver_id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The maneuver ID.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Maneuver Specification</td>
<td>data</td>
<td><em>-</em></td>
<td>message
(<a class="reference internal" href="Message Format.html#maneuver"><span class="std std-ref">Message-Group Maneuver</span></a>)</td>
<td>The maneuver specification.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Start Actions</td>
<td>start_actions</td>
<td><em>-</em></td>
<td>message-list</td>
<td>Contains an optionally defined ‘MessageList’ for actions fired
on plan activation.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>End Actions</td>
<td>end_actions</td>
<td><em>-</em></td>
<td>message-list</td>
<td>Contains an optionally defined ‘MessageList’ for actions fired
on plan termination.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="plan-transition">
<span id="plantransition"></span><h2>Plan Transition<a class="headerlink" href="#plan-transition" title="Permalink to this headline">¶</a></h2>
<p>Describes a plan transition within a plan specification. A
transition states the vehicle conditions that must be met to
signal the transition, the maneuver that should be started as a
result, and an optional set of actions triggered by the
transition.</p>
<ul class="simple">
<li>Abbreviation: PlanTransition</li>
<li>Identification Number: 553</li>
<li>Payload Size: 8+ bytes</li>
<li>Message Size: 30+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="19%" />
<col width="10%" />
<col width="4%" />
<col width="10%" />
<col width="44%" />
<col width="14%" />
</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>Source</td>
<td>source_man</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Comma separated list of maneuver IDs, or the special value ‘.’
to identify a global plan transition.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Destination Maneuver Name</td>
<td>dest_man</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Target maneuver name.
If it equals the special value ‘_done_’ then plan should
terminate with a success status.
If it equals the special value ‘_error_’ then the plan should
terminate with an error status.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Transition conditions</td>
<td>conditions</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Comma separated list of conditions for transition. Each
condition identifier corresponds to a known predicate which is
interpreted and tested internally by the vehicle.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Transition actions</td>
<td>actions</td>
<td><em>-</em></td>
<td>message-list</td>
<td>Messages processed when the transition is triggered.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="emergency-control">
<span id="emergencycontrol"></span><h2>Emergency Control<a class="headerlink" href="#emergency-control" title="Permalink to this headline">¶</a></h2>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: EmergencyControl</li>
<li>Identification Number: 554</li>
<li>Payload Size: 21+ bytes</li>
<li>Message Size: 43+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="15%" />
<col width="10%" />
<col width="30%" />
<col width="21%" />
<col width="10%" />
<col width="15%" />
</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="#emergencycontrol-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>Plan Specification</td>
<td>plan</td>
<td><em>-</em></td>
<td>message
(<a class="reference internal" href="#planspecification"><span class="std std-ref">Plan Specification</span></a>)</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-command">
<span id="emergencycontrol-enum-prefix-ectl"></span><span id="emergencycontrol-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: ECTL</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="23%" />
<col width="32%" />
<col width="30%" />
</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>Enable</td>
<td>ENABLE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Disable</td>
<td>DISABLE</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Start</td>
<td>START</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Stop</td>
<td>STOP</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>4</td>
<td>Query</td>
<td>QUERY</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>5</td>
<td>Set Plan</td>
<td>SET_PLAN</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="emergency-control-state">
<span id="emergencycontrolstate"></span><h2>Emergency Control State<a class="headerlink" href="#emergency-control-state" title="Permalink to this headline">¶</a></h2>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: EmergencyControlState</li>
<li>Identification Number: 555</li>
<li>Payload Size: 4+ bytes</li>
<li>Message Size: 26+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="18%" />
<col width="11%" />
<col width="35%" />
<col width="9%" />
<col width="11%" />
<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>State</td>
<td>state</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#emergencycontrolstate-enum-state"><span class="std std-ref">Enum State</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Plan Id</td>
<td>plan_id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Communications Level</td>
<td>comm_level</td>
<td><em>%</em></td>
<td>uint8_t</td>
<td> </td>
<td>max=100</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-state">
<span id="emergencycontrolstate-enum-prefix-ecs"></span><span id="emergencycontrolstate-enum-state"></span><h3>Enum State<a class="headerlink" href="#enum-state" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: state</li>
<li>Prefix: ECS</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>Not Configured</td>
<td>NOT_CONFIGURED</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Disabled</td>
<td>DISABLED</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Enabled</td>
<td>ENABLED</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Armed</td>
<td>ARMED</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>4</td>
<td>Active</td>
<td>ACTIVE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>5</td>
<td>Stopping</td>
<td>STOPPING</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="plan-db">
<span id="plandb"></span><h2>Plan DB<a class="headerlink" href="#plan-db" title="Permalink to this headline">¶</a></h2>
<p>Request/reply to plan database.</p>
<ul class="simple">
<li>Abbreviation: PlanDB</li>
<li>Identification Number: 556</li>
<li>Payload Size: 10+ bytes</li>
<li>Message Size: 32+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="8%" />
<col width="16%" />
<col width="6%" />
<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>Type</td>
<td>type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#plandb-enum-type"><span class="std std-ref">Enum Type</span></a>)</td>
<td>uint8_t</td>
<td>Indicates if the message is a request, or a reply to a
previous request.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Operation</td>
<td>op</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#plandb-enum-op"><span class="std std-ref">Enum Operation</span></a>)</td>
<td>uint8_t</td>
<td><p class="first">Indicates the operation affecting the DB.</p>
<p>The operation may relate to a single plan or the entire plan DB.
For each request, a plan DB may reply with any number of ‘in progress’
replies followed by a success or a failure reply.</p>
<p class="last">The ‘op’, ‘request_id’ and ‘plan_id’ fields of a request will be echoed
in one or more responses to that request.
The operation at stake also determines a certain type of the ‘arg’ field,
and whether or not the ‘plan_id’ field needs to be set.</p>
</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Request ID</td>
<td>request_id</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td>Request ID. This may be used by interfacing modules,
e.g. using sequence counters, to annotate requests and
appropriately identify replies</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Plan ID</td>
<td>plan_id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Plan identifier for the operation, if one is required.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Argument</td>
<td>arg</td>
<td><em>-</em></td>
<td>message</td>
<td>Request or reply argument.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Complementary Information</td>
<td>info</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Human-readable complementary information. For example this
may be used to detail reasons for failure, or to report
in-progress information.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-type">
<span id="plandb-enum-prefix-dbt"></span><span id="plandb-enum-type"></span><h3>Enum Type<a class="headerlink" href="#enum-type" title="Permalink to this headline">¶</a></h3>
<p>Indicates if the message is a request, or a reply to a
previous request.</p>
<ul class="simple">
<li>Abbreviation: type</li>
<li>Prefix: DBT</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>Request</td>
<td>REQUEST</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Reply – Success</td>
<td>SUCCESS</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Reply – Failure</td>
<td>FAILURE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Reply – In Progress</td>
<td>IN_PROGRESS</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="enum-operation">
<span id="plandb-enum-prefix-dbop"></span><span id="plandb-enum-op"></span><h3>Enum Operation<a class="headerlink" href="#enum-operation" title="Permalink to this headline">¶</a></h3>
<p>Indicates the operation affecting the DB.</p>
<p>The operation may relate to a single plan or the entire plan DB.
For each request, a plan DB may reply with any number of ‘in progress’
replies followed by a success or a failure reply.</p>
<p>The ‘op’, ‘request_id’ and ‘plan_id’ fields of a request will be echoed
in one or more responses to that request.
The operation at stake also determines a certain type of the ‘arg’ field,
and whether or not the ‘plan_id’ field needs to be set.</p>
<ul class="simple">
<li>Abbreviation: op</li>
<li>Prefix: DBOP</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="27%" />
<col width="12%" />
<col width="54%" />
</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>Set Plan</td>
<td>SET</td>
<td>Set a plan in the DB. The ‘plan_id’ field identifies the
plan, and a pre-existing plan with the same identifier, if
any will be overwritten. For requests, the ‘arg’ field must
contain a ‘PlanSpecification’ message.</td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Delete Plan</td>
<td>DEL</td>
<td>Delete a plan from the DB. The ‘plan_id’ field identifies
the plan to delete.</td>
</tr>
<tr class="row-even"><td>2</td>
<td>Get Plan</td>
<td>GET</td>
<td>Get a plan stored in the DB.The ‘plan_id’ field identifies
the plan. Successful replies will yield a
‘PlanSpecification’ message in the ‘arg’ field.</td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Get Plan Info</td>
<td>GET_INFO</td>
<td>Get DB state for a stored plan. The ‘plan_id’ field
identifies the plan. Successful replies will yield a
‘PlanDBInformation’ message in the ‘arg’ field.</td>
</tr>
<tr class="row-even"><td>4</td>
<td>Clear Database</td>
<td>CLEAR</td>
<td>Clear the entire DB.</td>
</tr>
<tr class="row-odd"><td>5</td>
<td>Get Database State (Simple)</td>
<td>GET_STATE</td>
<td>Get state of the entire DB. Successful replies will yield a
‘PlanDBState’ message in the ‘arg’ field but without
individual plan information (in the ‘plans_info’ field of
‘PlanDBState’).</td>
</tr>
<tr class="row-even"><td>6</td>
<td>Get Database State (Detailed)</td>
<td>GET_DSTATE</td>
<td>Get detailed state of the entire DB. Successful replies
will yield a ‘PlanDBState’ message in the ‘arg’ field with
individual plan information (in the ‘plans_info’ field of
‘PlanDBState’).</td>
</tr>
<tr class="row-odd"><td>7</td>
<td>Boot Notification</td>
<td>BOOT</td>
<td>PlanDB replies of this type are sent automatically during
bootstrap.</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="plan-db-state">
<span id="plandbstate"></span><h2>Plan DB State<a class="headerlink" href="#plan-db-state" title="Permalink to this headline">¶</a></h2>
<p>Characterizes the state of the entire plan database.</p>
<ul class="simple">
<li>Abbreviation: PlanDBState</li>
<li>Identification Number: 557</li>
<li>Payload Size: 22+ bytes</li>
<li>Message Size: 44+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="19%" />
<col width="9%" />
<col width="4%" />
<col width="17%" />
<col width="39%" />
<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>Plan – Count</td>
<td>plan_count</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td>Number of stored plans.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Plan – Size of all plans</td>
<td>plan_size</td>
<td><em>-</em></td>
<td>uint32_t</td>
<td>Size of all plans.The value equals the sum of the IMC payload
sizes for ‘PlanSpecification’ stored in the DB.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Last Change – Time</td>
<td>change_time</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>Time of last change (Epoch time).</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Last Change – Source Address</td>
<td>change_sid</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td>IMC address for source of last DB change.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Last Change – Source Name</td>
<td>change_sname</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>IMC node name for source of last DB change.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>MD5</td>
<td>md5</td>
<td><em>-</em></td>
<td>rawdata</td>
<td>MD5 database verification code. The MD5 hash sum is computed
over the stream formed by the MD5 of all plans, ordered by
plan id, in compliance with RFC 1321.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Plan info</td>
<td>plans_info</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#plandbinformation"><span class="std std-ref">Plan DB Information</span></a>)</td>
<td>Individual information for plans.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="plan-db-information">
<span id="plandbinformation"></span><h2>Plan DB Information<a class="headerlink" href="#plan-db-information" title="Permalink to this headline">¶</a></h2>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: PlanDBInformation</li>
<li>Identification Number: 558</li>
<li>Payload Size: 18+ bytes</li>
<li>Message Size: 40+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="21%" />
<col width="10%" />
<col width="4%" />
<col width="8%" />
<col width="44%" />
<col width="14%" />
</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>Plan ID</td>
<td>plan_id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Plan identifier.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Plan Size</td>
<td>plan_size</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td>Plan size. The value equals the IMC message payload of the
associated ‘PlanSpecification’ message in bytes.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Last Changed – Time</td>
<td>change_time</td>
<td><em>-</em></td>
<td>fp64_t</td>
<td>Time of last change to the plan (Epoch time).</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Last Change – Source Address</td>
<td>change_sid</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td>IMC address for source of last change to the plan.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Last Change – Source Name</td>
<td>change_sname</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>IMC node name for source of last change to the plan.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>MD5</td>
<td>md5</td>
<td><em>-</em></td>
<td>rawdata</td>
<td>MD5 plan verification code. The value is calculated over the
message payload of the ‘PlanSpecification’, in compliance with
RFC 1321.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="plan-control">
<span id="plancontrol"></span><h2>Plan Control<a class="headerlink" href="#plan-control" title="Permalink to this headline">¶</a></h2>
<p>Plan control request/reply.</p>
<ul class="simple">
<li>Abbreviation: PlanControl</li>
<li>Identification Number: 559</li>
<li>Payload Size: 12+ bytes</li>
<li>Message Size: 34+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="14%" />
<col width="8%" />
<col width="22%" />
<col width="6%" />
<col width="38%" />
<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>Type</td>
<td>type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#plancontrol-enum-type"><span class="std std-ref">Enum Type</span></a>)</td>
<td>uint8_t</td>
<td>Indicates if the message is a request or a reply to a
previous request. The <em>op</em>, <em>request_id</em> and <em>plan_id</em> fields
of a request will be echoed in one or more responses to that
request.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Operation</td>
<td>op</td>
<td><em>Enumerated</em>
(<span class="xref std std-ref">PlanControl-enum-op</span>)</td>
<td>uint8_t</td>
<td>Plan control operation.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Request ID</td>
<td>request_id</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td>Request ID. This may be used by interfacing modules e.g. using
sequence counters. to annotate requests and appropriately
identify replies.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Plan Identifier</td>
<td>plan_id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The identifier for the plan to be stopped / started / loaded /
retrieved according to the command requested (<em>op</em> field).</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Flags</td>
<td>flags</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#plancontrol-bitfield-flags"><span class="std std-ref">Bitfield Flags</span></a>)</td>
<td>uint16_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Request/Reply Argument</td>
<td>arg</td>
<td><em>-</em></td>
<td>message</td>
<td>Complementary message argument for requests/replies.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Complementary Info</td>
<td>info</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Complementary human-readable information. This is used
in association to replies.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="plancontrol-enum-prefix-pc">
<span id="plancontrol-enum-type"></span><span id="id2"></span><h3>Enum Type<a class="headerlink" href="#plancontrol-enum-prefix-pc" title="Permalink to this headline">¶</a></h3>
<p>Indicates if the message is a request or a reply to a
previous request. The <em>op</em>, <em>request_id</em> and <em>plan_id</em> fields
of a request will be echoed in one or more responses to that
request.</p>
<ul class="simple">
<li>Abbreviation: type</li>
<li>Prefix: PC</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>Request</td>
<td>REQUEST</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Reply – Success</td>