Defined SourceIdentifier enum/range.

python/examples/pose_relay.py

@@ -26,7 +26,7 @@
 from fusion_engine_client.messages.measurements import (
     ExternalPoseInput, SystemTimeSource,
 )
-from fusion_engine_client.messages.defs import SolutionType, Timestamp
+from fusion_engine_client.messages.defs import SolutionType, SourceIdentifier, Timestamp
 from fusion_engine_client.parsers import FusionEngineDecoder, FusionEngineEncoder
 from fusion_engine_client.utils import trace as logging
 from fusion_engine_client.utils.argument_parser import ArgumentParser
@@ -391,7 +391,9 @@ def main():
                     source_pose_msg, transformed_pose)
 
                 # Encode and send.
-                encoded_data = encoder.encode_message(ext_pose)
+                encoded_data = encoder.encode_message(
+                    ext_pose,
+                    source_identifier=SourceIdentifier.OUTPUT_LEVER_ARM)
                 logger.debug(bytes_to_hex(encoded_data, bytes_per_row=16, bytes_per_col=2))
 
                 target_transport.send(encoded_data)

python/fusion_engine_client/analysis/analyzer.py

@@ -47,7 +47,7 @@
     SolutionType.RTKFloat: SolutionTypeInfo(name='RTK Float', style={'color': 'green'}),
     SolutionType.RTKFixed: SolutionTypeInfo(name='RTK Fixed', style={'color': 'orange'}),
     SolutionType.PPP: SolutionTypeInfo(name='PPP', style={'color': 'pink'}),
-    SolutionType.Visual: SolutionTypeInfo(name='Vision', style={'color': 'purple'}),
+    SolutionType.External: SolutionTypeInfo(name='External', style={'color': 'purple'}),
 }
 
 

python/fusion_engine_client/messages/defs.py

@@ -47,8 +47,8 @@ class SolutionType(IntEnum):
     RTKFloat = 5
     # Integrated position using dead reckoning.
     Integrate = 6
-    # Using vision measurements.
-    Visual = 9
+    # Using external (vision, lidar) measurements.
+    External = 9
     # GNSS precise point positioning (PPP) pseudorange/carrier phase solution.
     PPP = 10
 
@@ -239,11 +239,11 @@ class SourceIdentifier(IntEnum):
 
 
 class MessageHeader:
-    INVALID_SOURCE_ID = 0xFFFFFFFF
-
     SYNC0 = 0x2E  # '.'
     SYNC1 = 0x31  # '1'
 
+    INVALID_SOURCE_ID = SourceIdentifier.INVALID
+
     SYNC = bytes((SYNC0, SYNC1))
 
     _FORMAT = '<BBHIBBHIII'
@@ -259,7 +259,7 @@ def __init__(self, message_type: MessageType = MessageType.INVALID):
         self.message_version: int = 0
         self.message_type: MessageType = message_type
         self.payload_size_bytes: int = 0
-        self.source_identifier: int = MessageHeader.INVALID_SOURCE_ID
+        self.source_identifier: int = SourceIdentifier.INVALID
 
     def get_type_string(self):
         return MessageType.get_type_string(self.message_type)
@@ -321,7 +321,7 @@ def pack(self, buffer: bytes = None, offset: int = 0, payload: bytes = None, ret
 
         args = (MessageHeader.SYNC0, MessageHeader.SYNC1, self.reserved, self.crc, self.protocol_version,
                 self.message_version, int(self.message_type), self.sequence_number, self.payload_size_bytes,
-                self.source_identifier)
+                int(self.source_identifier))
         if buffer is None:
             buffer = struct.pack(MessageHeader._FORMAT, *args)
             if payload is not None:

python/fusion_engine_client/parsers/encoder.py

@@ -1,4 +1,4 @@
-from ..messages import MessageHeader, MessagePayload
+from ..messages import MessageHeader, MessagePayload, SourceIdentifier
 
 
 class FusionEngineEncoder:
@@ -15,7 +15,8 @@ def __init__(self):
         """
         self.sequence_number = 0
 
-    def encode_message(self, message: MessagePayload, source_identifier: int = 0) -> (bytes):
+    def encode_message(self, message: MessagePayload,
+                       source_identifier: SourceIdentifier = SourceIdentifier.OUTPUT_LEVER_ARM) -> (bytes):
         """!
         @brief Serialize a message with valid header and payload.
 

src/point_one/fusion_engine/messages/defs.h

@@ -530,8 +530,8 @@ enum class SolutionType : uint8_t {
   RTKFloat = 5,
   /** Integrated position using dead reckoning. */
   Integrate = 6,
-  /** Using vision measurements. */
-  Visual = 9,
+  /** Using external (vision, lidar) measurements. */
+  External = 9,
   /**
    * GNSS precise point positioning (PPP) pseudorange/carrier phase solution.
    */
@@ -567,8 +567,8 @@ P1_CONSTEXPR_FUNC const char* to_string(SolutionType type) {
     case SolutionType::Integrate:
       return "Dead Reckoning";
 
-    case SolutionType::Visual:
-      return "Visual Navigation";
+    case SolutionType::External:
+      return "External Navigation";
 
     case SolutionType::PPP:
       return "PPP GNSS";
@@ -585,6 +585,43 @@ inline p1_ostream& operator<<(p1_ostream& stream, SolutionType type) {
   return stream;
 }
 
+/**
+ * @brief Output solution/measurement source identifiers.
+ */
+enum class SourceIdentifier : uint32_t {
+  // 0 - 99 is reserved for pose solutions.
+  /**
+   * The location on the vehicle defined by the device's output lever arm
+   * setting.
+   */
+  OUTPUT_LEVER_ARM = 0,
+
+  // 100 - 199 is reserved for IMUs.
+
+  // 300 - 399 is reserved for GNSS receivers/antennas.
+  /** Primary GNSS antenna. */
+  PRIMARY_GNSS_ANTENNA = 300,
+  /**
+   * Secondary/auxiliary GNSS antenna (heading + pitch/roll for dual-antenna
+   * systems).
+   */
+  SECONDARY_GNSS_ANTENNA = 301,
+
+  // 500 - 599 is reserved for external pose sources, such as an external SLAM
+  // or VIO/LIO.
+  /** Invalid source identifier. */
+  INVALID = 0xFFFFFFFF,
+};
+
+/**
+ * @brief @ref SourceIdentifier stream operator.
+ * @ingroup enum_definitions
+ */
+inline p1_ostream& operator<<(p1_ostream& stream, SourceIdentifier id) {
+  stream << static_cast<uint32_t>(id);
+  return stream;
+}
+
 /** @} */
 
 /**
@@ -598,7 +635,8 @@ struct P1_ALIGNAS(4) MessageHeader {
   static constexpr uint8_t SYNC0 = 0x2E; // '.'
   static constexpr uint8_t SYNC1 = 0x31; // '1'
 
-  static constexpr uint32_t INVALID_SOURCE_ID = 0xFFFFFFFF;
+  static constexpr SourceIdentifier INVALID_SOURCE_ID =
+      SourceIdentifier::INVALID;
 
   /**
    * The maximum expected message size (in bytes), used for sanity checking.
@@ -638,7 +676,7 @@ struct P1_ALIGNAS(4) MessageHeader {
   uint32_t payload_size_bytes = 0;
 
   /** Identifies the source of the serialized data. */
-  uint32_t source_identifier = INVALID_SOURCE_ID;
+  SourceIdentifier source_identifier = SourceIdentifier::INVALID;
 };
 
 /**

src/point_one/fusion_engine/messages/measurements.h

@@ -1278,14 +1278,15 @@ struct P1_ALIGNAS(4) RawGNSSAttitudeOutput : public MessagePayload {
  * device or a vision system).
  *
  * Position is expressed in the ECEF frame, and velocity is expressed in the
- * local ENU frame. @ref position_ecef_m should correspond to the output lever
- * arm point configured on the receiving device (see @ref
- * ConfigType::OUTPUT_LEVER_ARM), so that the position matches the point the
- * device will report in its own @ref PoseMessage after initialization.
+ * local ENU frame. @ref position_ecef_m should correspond to the reference
+ * point selected by @ref MessageHeader::source_identifier - either the external
+ * source's own point (for example, a lidar/camera sensor origin), or the
+ * receiving device output point when the source identifier is set to @ref
+ * SourceIdentifier::OUTPUT_LEVER_ARM.
  *
  * Orientation is specified as yaw, pitch, roll (YPR) angles in the local ENU
  * frame, following the same intrinsic Euler-321 convention as @ref
- * PoseMessage::ypr_deg.
+ * PoseMessage::ypr_deg, but body-fixed to the external source frame.
  *
  * Any elements that are not available should be set to `NAN`. Standard
  * deviation fields are specified in the same units as the corresponding
@@ -1310,8 +1311,12 @@ struct P1_ALIGNAS(4) ExternalPoseInput : public MessagePayload {
   uint32_t flags = 0;
 
   /**
-   * An estimate of the device's output position (in meters), resolved in the
-   * ECEF frame.
+   * An estimate of the external source's position (in meters), resolved in the
+   * ECEF frame. This should correspond to the reference point selected by
+   * @ref MessageHeader::source_identifier - either the source's own point (e.g.
+   * the lidar/camera sensor origin), for which the receiving device applies the
+   * configured lever arm, or the device output point when the source identifier
+   * is set to @ref SourceIdentifier::OUTPUT_LEVER_ARM.
    */
   double position_ecef_m[3] = {NAN, NAN, NAN};
 
@@ -1321,9 +1326,12 @@ struct P1_ALIGNAS(4) ExternalPoseInput : public MessagePayload {
    */
   float position_std_ecef_m[3] = {NAN, NAN, NAN};
 
-  /** An estimate of the device's output orientation (in degrees), resolved in
-   * the local ENU tangent plane. See @ref PoseMessage::ypr_deg for a complete
-   * rotation definition.
+  /**
+   * An estimate of the external source's orientation (in degrees), resolved
+   * in the local ENU tangent plane. This describes the frame selected by
+   * @ref MessageHeader::source_identifier (e.g. the lidar/camera sensor frame);
+   * the receiving device applies the configured mounting rotation. See @ref
+   * PoseMessage::ypr_deg for a complete rotation definition.
    */
   float ypr_deg[3] = {NAN, NAN, NAN};