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 also expect either
MSG_GNSS_TIME_OFFSET
or MSG_PPS_TIME
to sync incoming wheeltick data
to GNSS time.
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§
source§impl 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§
source§impl Clone for MsgWheeltick
impl Clone for MsgWheeltick
source§fn clone(&self) -> MsgWheeltick
fn clone(&self) -> MsgWheeltick
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl ConcreteMessage for MsgWheeltick
impl ConcreteMessage for MsgWheeltick
source§const MESSAGE_TYPE: u16 = 2_308u16
const MESSAGE_TYPE: u16 = 2_308u16
source§const MESSAGE_NAME: &'static str = "MSG_WHEELTICK"
const MESSAGE_NAME: &'static str = "MSG_WHEELTICK"
source§impl Debug for MsgWheeltick
impl Debug for MsgWheeltick
source§impl<'de> Deserialize<'de> for MsgWheeltick
impl<'de> Deserialize<'de> for MsgWheeltick
source§fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
source§impl FriendlyName for MsgWheeltick
impl FriendlyName for MsgWheeltick
fn friendly_name() -> &'static str
source§impl From<MsgWheeltick> for Sbp
impl From<MsgWheeltick> for Sbp
source§fn from(msg: MsgWheeltick) -> Self
fn from(msg: MsgWheeltick) -> Self
source§impl PartialEq for MsgWheeltick
impl PartialEq for MsgWheeltick
source§fn eq(&self, other: &MsgWheeltick) -> bool
fn eq(&self, other: &MsgWheeltick) -> bool
self
and other
values to be equal, and is used
by ==
.