Autonomy Messages

TREX Observation

This message is sent to TREX to post timeline observations

  • Abbreviation: TrexObservation
  • Identification Number: 651
  • Payload Size: 6+ bytes
  • Message Size: 28+ bytes
  • Flags: deprecated
Name Abbreviation Unit Type Description Range
Timeline timeline - plaintext   Same as field type
Predicate predicate - plaintext   Same as field type
Attributes attributes TupleList plaintext   Same as field type

TREX Command

This message is used to control TREX execution

  • Abbreviation: TrexCommand
  • Identification Number: 652
  • Payload Size: 5+ bytes
  • Message Size: 27+ bytes
  • Flags: deprecated
Name Abbreviation Unit Type Description Range
Command command Enumerated (Enum Command) uint8_t   Same as field type
Goal Id goal_id - plaintext The id of the goal, if applicable (OP == POST_GOAL || OP == RECALL_GOAL) Same as field type
Goal XML goal_xml - plaintext The goal encoded as XML, if applicable (OP == POST_GOAL) Same as field type

Enum Command

No description

  • Abbreviation: command
  • Prefix: OP
Value Name Abbreviation Description
0 Disable TREX DISABLE -
1 Enable TREX ENABLE -
2 Post Goal POST_GOAL -
3 Recall Goal RECALL_GOAL -
4 Request current plan REQUEST_PLAN -
5 Report current plan REPORT_PLAN -

TREX Operation

This message is used to control TREX execution

  • Abbreviation: TrexOperation
  • Identification Number: 655
  • Payload Size: 11+ bytes
  • Message Size: 33+ bytes
Name Abbreviation Unit Type Description Range
Operation op Enumerated (Enum Operation) uint8_t   Same as field type
Goal Id goal_id - plaintext The id of the goal, if applicable (OP == POST_GOAL || OP == RECALL_GOAL) Same as field type
Token token - message (TREX Token) Goal / observation to post, if applicable (OP == POST_GOAL || OP == POST_TOKEN) Same as field type

Enum Operation

No description

  • Abbreviation: op
  • Prefix: OP
Value Name Abbreviation Description
1 Post Token POST_TOKEN -
2 Post Goal POST_GOAL -
3 Recall Goal RECALL_GOAL -
4 Request current plan REQUEST_PLAN -
5 Report current plan REPORT_PLAN -

TREX Attribute

No description

  • Abbreviation: TrexAttribute
  • Identification Number: 656
  • Payload Size: 7+ bytes
  • Message Size: 29+ bytes
Name Abbreviation Unit Type Description Range
Attribute Name name - plaintext Name of this attribute. Same as field type
Attribute type attr_type Enumerated (Enum Attribute type) uint8_t   Same as field type
Minimum min - plaintext Lower bound of this interval. Empty text means no bound. Same as field type
Maximum max - plaintext Upper bound of this interval. Empty text means no bound. Same as field type

Enum Attribute type

No description

  • Abbreviation: attr_type
  • Prefix: TYPE
Value Name Abbreviation Description
1 Boolean Domain BOOL -
2 Integer Domain INT -
3 Float Domain FLOAT -
4 String Domain STRING -
5 Enumerated Domain ENUM -

TREX Token

No description

  • Abbreviation: TrexToken
  • Identification Number: 657
  • Payload Size: 6+ bytes
  • Message Size: 28+ bytes
Name Abbreviation Unit Type Description Range
Timeline timeline - plaintext   Same as field type
Predicate predicate - plaintext   Same as field type
Attributes attributes - message-list (TREX Attribute)   Same as field type

TREX Plan

No description

  • Abbreviation: TrexPlan
  • Identification Number: 658
  • Payload Size: 4+ bytes
  • Message Size: 26+ bytes
Name Abbreviation Unit Type Description Range
Reactor name reactor - plaintext   Same as field type
Tokens tokens - message-list (TREX Token)   Same as field type

Event

This message is used for signaling asynchronous events between different (sub) systems.

  • Abbreviation: Event
  • Identification Number: 660
  • Payload Size: 4+ bytes
  • Message Size: 26+ bytes
Name Abbreviation Unit Type Description Range
Topic topic - plaintext The name or type of this event Same as field type
Data data TupleList plaintext A map with additional event information. Same as field type