clearpath::horizon::payloads::Payload Class Reference

Horizon Payload. More...

Inheritance diagram for clearpath::horizon::payloads::Payload:

[legend]

List of all members.

Public Member Functions
def	__init__
	Create A Horizon Message Payload.
def	__str__
	Hex String Representation.
def	copy
	Copy Instance.
def	print_format
	Human Readable Payload String.
def	raw_string
	Raw Bytes Payload Representation.
Public Attributes
	data
	timestamp

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Detailed Description

Horizon Payload.

Represents the basic payload of a Horizon message.
To be inherited for specific message payloads.

Warning:

Data should not be modified once created

Since:

0.1

Horizon Protocol Message Payload

Definition at line 194 of file payloads.py.

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Member Function Documentation

def clearpath::horizon::payloads::Payload::__init__	(		self,
			raw = [],
			timestamp = 0
	)

Create A Horizon Message Payload.

Constructor for the Horizon Payload class.
Creates a basic message payload which is simply a byte list.

Subclass overrides should throw ValueError if invalid format and LookupError if it has version detection problems (if supported).

Parameters:

	raw	Raw data buffer to parse
	timestamp	Payload Send / Create Time (milliseconds)

Exceptions:

	LookupError	If auto-detect version fails
	ValueError	If values are out of range or if raw is invalid

Create A Horizon Message Payload

Reimplemented in clearpath::horizon::payloads::Null, clearpath::horizon::payloads::Echo, clearpath::horizon::payloads::ProcessorStatus, clearpath::horizon::payloads::Reset, clearpath::horizon::payloads::RawSensor, clearpath::horizon::payloads::RawCurrentSensor, clearpath::horizon::payloads::RawVoltageSensor, clearpath::horizon::payloads::RawTemperatureSensor, clearpath::horizon::payloads::RawOrientationSensor, clearpath::horizon::payloads::RawAccelerometer, and clearpath::horizon::payloads::RawMagnetometer.

Definition at line 211 of file payloads.py.

def clearpath::horizon::payloads::Payload::__str__

(

self

)

Hex String Representation.

Return the entire payload in a string of hex characters.

Returns:

String of hex info

Return the entire payload in a string of hex characters.

Definition at line 231 of file payloads.py.

def clearpath::horizon::payloads::Payload::copy

(

self

)

Copy Instance.

Returns:

A deep copy of this object

Copy Instance

Definition at line 241 of file payloads.py.

def clearpath::horizon::payloads::Payload::print_format

(

self

)

Human Readable Payload String.

Returns:

Human readable string representation of the payload

Return the payload as a human readable string

Reimplemented in clearpath::horizon::payloads::Null, clearpath::horizon::payloads::Ack, clearpath::horizon::payloads::Subscribe, clearpath::horizon::payloads::Echo, clearpath::horizon::payloads::PlatformInfo, clearpath::horizon::payloads::PlatformName, clearpath::horizon::payloads::PlatformTime, clearpath::horizon::payloads::FirmwareInfo, clearpath::horizon::payloads::SystemStatus, clearpath::horizon::payloads::PowerStatus, clearpath::horizon::payloads::ProcessorStatus, clearpath::horizon::payloads::SafetyStatus, clearpath::horizon::payloads::DifferentialSpeed, clearpath::horizon::payloads::DifferentialControl, clearpath::horizon::payloads::DifferentialOutput, clearpath::horizon::payloads::AckermannOutput, clearpath::horizon::payloads::Velocity, clearpath::horizon::payloads::Turn, clearpath::horizon::payloads::MaxSpeed, clearpath::horizon::payloads::MaxAccel, clearpath::horizon::payloads::Gear, clearpath::horizon::payloads::GearStatus, clearpath::horizon::payloads::Distance, clearpath::horizon::payloads::DistanceTiming, clearpath::horizon::payloads::Orientation, clearpath::horizon::payloads::Rotation, clearpath::horizon::payloads::Acceleration, clearpath::horizon::payloads::Magnetometer, clearpath::horizon::payloads::Encoders, clearpath::horizon::payloads::RawEncoders, clearpath::horizon::payloads::Reset, clearpath::horizon::payloads::CurrentSensorConfig, clearpath::horizon::payloads::VoltageSensorConfig, clearpath::horizon::payloads::TemperatureSensorConfig, clearpath::horizon::payloads::OrientationSensorConfig, clearpath::horizon::payloads::AccelerometerConfig, clearpath::horizon::payloads::EncodersConfig, clearpath::horizon::payloads::RawCurrentSensor, clearpath::horizon::payloads::RawVoltageSensor, clearpath::horizon::payloads::RawTemperatureSensor, clearpath::horizon::payloads::RawOrientationSensor, clearpath::horizon::payloads::RawAccelerometer, clearpath::horizon::payloads::RawMagnetometer, clearpath::horizon::payloads::RestoreSystemConfig, clearpath::horizon::payloads::StoreSystemConfig, clearpath::horizon::payloads::ControlFlags, clearpath::horizon::payloads::BatteryEstimationConfig, clearpath::horizon::payloads::PlatformKinematics, clearpath::horizon::payloads::Config, and clearpath::horizon::payloads::ConfigRequest.

Definition at line 259 of file payloads.py.

def clearpath::horizon::payloads::Payload::raw_string

(

self

)

Raw Bytes Payload Representation.

Convert the payload into raw bytes (character string for Python 2.x) useful for writing to devices.

Returns:

raw bytes

Returns the data converted into raw bytes.

Definition at line 273 of file payloads.py.

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Member Data Documentation

clearpath::horizon::payloads::Payload::data

Definition at line 215 of file payloads.py.

clearpath::horizon::payloads::Payload::timestamp

Definition at line 216 of file payloads.py.

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The documentation for this class was generated from the following file:

• payloads.py