Struct sbp::messages::vehicle::msg_wheeltick::MsgWheeltick
source · [−]pub struct MsgWheeltick {
pub sender_id: Option<u16>,
pub time: u64,
pub flags: u8,
pub source: u8,
pub ticks: i32,
}
Expand description
Accumulated wheeltick count message
Message containing the accumulated distance travelled by a wheel located
at an odometry reference point defined by the user. The offset for the
odometry reference point and the definition and origin of the user frame
are defined through the device settings interface. The source of this
message is identified by the source field, which is an integer ranging
from 0 to 255. The timestamp associated with this message should represent
the time when the accumulated tick count reached the value given by the
contents of this message as accurately as possible. If using “local CPU
time” time tags, the receiving end will expect a MSG_GNSS_TIME_OFFSET
when a PVT fix becomes available to synchronise wheeltick measurements
with GNSS. Local CPU time shall roll over to zero after one week.
Fields
sender_id: Option<u16>
The message sender_id
time: u64
Time field representing either microseconds since the last PPS, microseconds in the GPS Week or local CPU time from the producing system in microseconds. See the synch_type field for the exact meaning of this timestamp.
flags: u8
Field indicating the type of timestamp contained in the time field.
source: u8
ID of the sensor producing this message
ticks: i32
Free-running counter of the accumulated distance for this sensor. The counter should be incrementing if travelling into one direction and decrementing when travelling in the opposite direction.
Implementations
sourceimpl MsgWheeltick
impl MsgWheeltick
sourcepub fn vehicle_metadata(&self) -> Result<VehicleMetadata, u8>
pub fn vehicle_metadata(&self) -> Result<VehicleMetadata, u8>
Gets the VehicleMetadata stored in the flags
bitfield.
Returns Ok
if the bitrange contains a known VehicleMetadata
variant.
Otherwise the value of the bitrange is returned as an Err(u8)
. This may be because of a malformed message,
or because new variants of VehicleMetadata
were added.
sourcepub fn set_vehicle_metadata(&mut self, vehicle_metadata: VehicleMetadata)
pub fn set_vehicle_metadata(&mut self, vehicle_metadata: VehicleMetadata)
Set the bitrange corresponding to the VehicleMetadata of the flags
bitfield.
sourcepub fn synchronization_type(&self) -> Result<SynchronizationType, u8>
pub fn synchronization_type(&self) -> Result<SynchronizationType, u8>
Gets the SynchronizationType stored in the flags
bitfield.
Returns Ok
if the bitrange contains a known SynchronizationType
variant.
Otherwise the value of the bitrange is returned as an Err(u8)
. This may be because of a malformed message,
or because new variants of SynchronizationType
were added.
sourcepub fn set_synchronization_type(
&mut self,
synchronization_type: SynchronizationType
)
pub fn set_synchronization_type(
&mut self,
synchronization_type: SynchronizationType
)
Set the bitrange corresponding to the SynchronizationType of the flags
bitfield.
Trait Implementations
sourceimpl Clone for MsgWheeltick
impl Clone for MsgWheeltick
sourcefn clone(&self) -> MsgWheeltick
fn clone(&self) -> MsgWheeltick
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl ConcreteMessage for MsgWheeltick
impl ConcreteMessage for MsgWheeltick
sourceconst MESSAGE_TYPE: u16 = 2_308u16
const MESSAGE_TYPE: u16 = 2_308u16
The message type.
sourceconst MESSAGE_NAME: &'static str = "MSG_WHEELTICK"
const MESSAGE_NAME: &'static str = "MSG_WHEELTICK"
The message name.
sourceimpl Debug for MsgWheeltick
impl Debug for MsgWheeltick
sourceimpl From<MsgWheeltick> for Sbp
impl From<MsgWheeltick> for Sbp
sourcefn from(msg: MsgWheeltick) -> Self
fn from(msg: MsgWheeltick) -> Self
Converts to this type from the input type.
sourceimpl SbpMessage for MsgWheeltick
impl SbpMessage for MsgWheeltick
sourcefn message_name(&self) -> &'static str
fn message_name(&self) -> &'static str
Get the message name.
sourcefn message_type(&self) -> u16
fn message_type(&self) -> u16
Get the message type.
sourcefn set_sender_id(&mut self, new_id: u16)
fn set_sender_id(&mut self, new_id: u16)
Set the sender id.
sourcefn encoded_len(&self) -> usize
fn encoded_len(&self) -> usize
Number of bytes this message will take on the wire.
Auto Trait Implementations
impl RefUnwindSafe for MsgWheeltick
impl Send for MsgWheeltick
impl Sync for MsgWheeltick
impl Unpin for MsgWheeltick
impl UnwindSafe for MsgWheeltick
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more