Struct MsgSystemReport

Defined in File dispatch.hpp

Struct Documentation

struct MsgSystemReport

Public Types

enum class State : uint8_t

Values:

enumerator Manual

enumerator Ready

enumerator Active

enumerator Fault

enum class ReasonNotReady : uint8_t

Values:

enumerator None

enumerator MissingReportSteer

enumerator MissingReportBrake

enumerator MissingReportThrtl

enumerator MissingReportGear

enumerator FaultSteer

enumerator FaultBrake

enumerator FaultThrtl

enumerator FaultGear

enumerator BadCrcRcCmdSteer

enumerator BadCrcRcCmdBrake

enumerator BadCrcRcCmdThrtl

enumerator BadCrcCmdGear

enumerator OverrideActiveSteer

enumerator OverrideActiveBrake

enumerator OverrideActiveThrtl

enumerator OverrideActiveGear

enumerator OverrideLatchedSteer

enumerator OverrideLatchedBrake

enumerator OverrideLatchedThrtl

enumerator OverrideOtherSteer

enumerator OverrideOtherBrake

enumerator OverrideOtherThrtl

enumerator OverrideOtherGear

enumerator NotReadySteer

enumerator NotReadyBrake

enumerator NotReadyThrtl

enumerator MissingCmdSteer

enumerator MissingCmdBrake

enumerator MissingCmdThrtl

enumerator LockoutVehicleVelocity

enumerator LockoutVehicleAccel

enumerator LockoutGearReverse

enumerator NotEnableCmdSteer

enumerator NotEnableCmdBrake

enumerator NotEnableCmdThrtl

enumerator SystemReengageDelay

enumerator SystemLockout

enumerator SystemDisabled

enumerator Unknown

enum class ReasonDisengage : uint8_t

Values:

enumerator None

enumerator PowerCycle

enumerator LockoutVehicleVelocity

enumerator LockoutVehicleAccel

enumerator LockoutGearReverse

enumerator SteerCmdDisengage

enumerator SteerCmdInvalidCrc

enumerator SteerCmdInvalidRc

enumerator SteerCmdTimeout

enumerator SteerRptFault

enumerator SteerRptOverride

enumerator SteerRptDisengage

enumerator BrakeCmdDisengage

enumerator BrakeCmdInvalidCrc

enumerator BrakeCmdInvalidRc

enumerator BrakeCmdTimeout

enumerator BrakeRptFault

enumerator BrakeRptOverride

enumerator BrakeRptDisengage

enumerator ThrtlCmdDisengage

enumerator ThrtlCmdInvalidCrc

enumerator ThrtlCmdInvalidRc

enumerator ThrtlCmdTimeout

enumerator ThrtlRptFault

enumerator ThrtlRptOverride

enumerator ThrtlRptDisengage

enumerator GearRptFault

enumerator GearRptOverride

enumerator ExternalBrake

enumerator SystemDisableCmd

enumerator SystemDisableBtn

enumerator Unknown

Public Functions

inline void reset()

inline void setTimePhaseMs(size_t ms)

inline bool timePhaseValid() const

inline size_t timePhaseMs() const

inline bool operator==(const MsgSystemReport &_other) const

inline bool operator!=(const MsgSystemReport &_other) const

inline bool needsUpdate(const MsgSystemReport &previous) const

inline void setCrc()

inline bool validCrc() const

inline bool validRc(uint8_t rc) const

Public Members

uint8_t inhibit

uint8_t validate_cmd_crc_rc

SystemSyncMode system_sync_mode

uint8_t btn_enable

uint8_t btn_disable

uint8_t __pad0__

ReasonDisengage reason_disengage

ReasonNotReady reason_not_ready

uint16_t time_phase

State state

uint8_t __pad1__

uint8_t __pad2__

uint8_t lockout

uint8_t override

uint8_t ready

uint8_t enabled

uint8_t fault

uint8_t __pad3__

uint8_t bad_crc

uint8_t bad_rc

uint8_t rc

uint8_t crc

Public Static Functions

static inline constexpr const char *reasonToString(ReasonNotReady x)

static inline constexpr const char *reasonToString(ReasonDisengage x)

Public Static Attributes

static constexpr uint32_t ID = 0x106

static constexpr size_t PERIOD_MIN = 20

static constexpr size_t PERIOD_MS = 100

static constexpr size_t PERIOD_MAX = 100

static constexpr size_t TIMEOUT_MS = 250