Struct sbp::messages::vehicle::msg_wheeltick::MsgWheeltick

pub struct MsgWheeltick {
    pub sender_id: Option<u16>,
    pub time: u64,
    pub flags: u8,
    pub source: u8,
    pub ticks: i32,
}

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

impl MsgWheeltick

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.

pub fn set_vehicle_metadata(&mut self, vehicle_metadata: VehicleMetadata)

Set the bitrange corresponding to the VehicleMetadata of the flags bitfield.

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.

pub fn set_synchronization_type(
    &mut self,
    synchronization_type: SynchronizationType
)

Set the bitrange corresponding to the SynchronizationType of the flags bitfield.

Trait Implementations

impl Clone for MsgWheeltick

fn clone(&self) -> MsgWheeltick

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl ConcreteMessage for MsgWheeltick

const MESSAGE_TYPE: u16 = 2_308u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_WHEELTICK"

The message name.

impl Debug for MsgWheeltick

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl From<MsgWheeltick> for Sbp

fn from(msg: MsgWheeltick) -> Self

Converts to this type from the input type.

impl PartialEq<MsgWheeltick> for MsgWheeltick

fn eq(&self, other: &MsgWheeltick) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl SbpMessage for MsgWheeltick

fn message_name(&self) -> &'static str

Get the message name.

fn message_type(&self) -> u16

Get the message type.

fn sender_id(&self) -> Option<u16>

Get the sender_id if it is set.

fn set_sender_id(&mut self, new_id: u16)

Set the sender id.

fn encoded_len(&self) -> usize

Number of bytes this message will take on the wire.

impl TryFrom<Sbp> for MsgWheeltick

type Error = TryFromSbpError

The type returned in the event of a conversion error.

fn try_from(msg: Sbp) -> Result<Self, Self::Error>

Performs the conversion.

impl StructuralPartialEq for MsgWheeltick