CANgw - res cfsd-standered-message-senderstamps

This is a repository for organizing the various assignments of sender stamps.

Rules of the Sender Stamp:

​ If it is a sensor data, The sender stamp offset is set by mapping from origin microservices

​ else if it is a request, the sender stamp offset is set by mapping from destination microservices

Version: 0.2.0

OpenDLV message : opendlv-standard-message-set-v0.9.7.odvd

cfsd extended message: cfsd-extended-message-set-v0.0.1.odvd

OpenDLV message	sender stamp	msg content	sensor/req	unit	origin	Desitnation
opendlv::cfsdProxy::TorqueRequestDual	1910	torqueLeft&torqueRight	req	0~2400cNm	StateM	CANgw-Lynx
	2101	torqueLeft&torqueRight	req	0~2400cNm	longCtrl	StateM
opendlv::proxy::AxleAngularVelocityReading	1901	wheelRareRight	sensor	Km/h	CANgw-Lynx
	1902	wheelRareLeft	sensor	Km/h	CANgw-Lynx
	1903	wheelFrontRight	sensor	Km/h	CANgw-Lynx
	1904	wheelFrontLeft	sensor	Km/h	CANgw-Lynx
	1933	motorSpeedEstimateRight	sensor	RPM	CANgw-Lynx
	1935	motorSpeedEstimateLeft	sensor	RPM	CANgw-Lynx
opendlv::proxy::PedalPositionReading	1901	brake	sensor	%	CANgw-Lynx
	1902	throttle	sensor	%	CANgw-Lynx
	1922	brakeFront	sensor	%	CANgw-Lynx
	1923	brakeRear	sensor	%	CANgw-Lynx
opendlv::proxy::VoltageReading	1921	accSoC	sensor	State of Charge	CANgw-Lynx
opendlv::proxy::SwitchStateReading	1924	dlStatus	sensor	0/1	CANgw-Lynx
	1906	asMission	sensor	0-8*[2]	CANgw-Lynx
	2105	ebsFault	sensor	bool	StateM
	2101	asState	sensor	0-5*[2]	StateM
	1801	resStatus	sensor	0/1*[1]	CANgw - res
	1802	resEStop	sensor	0/128*[1]	CANgw - res
	1803	resQuality	sensor	0-100*[1]	CANgw - res
	1804	resButtons	sensor	1/3/5/7*[1]	CANgw - res
	2113	steerFault	sensor	bool	StateM
	2114	ebsState	sensor	0-2*[2]	StateM
	2115	serviceValve	sensor	bool	StateM
	1049	ebsOk	sensor	bool	ASNode
	1112	clampExtended	sensor	bool	ASNode
	1115	asms	sensor	bool	ASNode
	(unset)	tsActivated	sensor	bool	ASNode
	1916	KnobR	sensor	1-12 int	CANgw-Lynx
	1917	NnobL	sensor	1-12 int	CANgw-Lynx
	1917	missionState	sensor	0-4 int	MissionCtrl
opendlv::proxy::SwitchStateRequest	1044	ebsSpeaker	req	bool	StateM
	1027	heartBeat	req	bool	StateM
	1045	compressor	req	bool	StateM
	1066	finishedSignal	req	bool	StateM
	1067	shutdownSignal	req	bool	StateM
	1899	resInitialize	req	Don't Care*[1]	StateM	CANgw-Res
	1904	asReadyToDrive	req	1/0	StateM	CANgw-Lynx
opendlv::proxy::GroundSteeringReading	1200	steeringPosition	sensor	mm	ASNode
	1206	rackPosition	sensor	mm	ASNode
opendlv::proxy::GroundSteeringRequest	2801	steeringRequest	req	deg	aimPoint	latCtrl
opendlv::proxy::GroundSpeedRequest	2201	speedRequest	req	m/s	velPlan	longCtrl
opendlv::proxy::PressureReading	1202	pressureService	sensor	bar	ASNode
	1205	pressureRegulator	sensor	bar	ASNode
	1201	pressureEBSLine	sensor	bar	ASNode
	1203	pressureEBSAct	sensor	bar	ASNode
	1509	brakeTarget	sensor		?
opendlv::proxy::PulseWidthModulationRequest	2150	brakeDutyCycle	req	dutyCycles	Brake	StateM
	1341	brakeDutyCycle	req	dutyCycles	StateM	ASNode
	1300	blueAssiSignal	req	dutyCycles	StateM	ASNode
	1320	redAssiSignal	req	dutyCycles	StateM	ASNode
	1321	greenAssiSignal	req	dutyCycles	StateM	ASNode
	1340	steeringDutyCycle	req	dutyCycles	latCtrl	ASNode
opendlv::proxy::AngularVelocityReading	112	angularVelocity	sensor	rad/s	imu
opendlv::proxy::AccelerationReading	112	acceleration	sensor	m/s^2	imu
opendlv::proxy::GeodeticWgs84Reading	112	geolocation	sensor	deg	imu (gps)
opendlv::proxy::GroundSpeedReading	112	groundSpeed	sensor	m/s	imu (gps)
	113	groundSpeed	sensor	m/s	SLAM (ekf)
	2500	groundSpeed	sensor	m/s	SLAM
	3000	groundSpeed	sensor	m/s	speedEst
opendlv::sim::Frame	113	eulerAngle	sensor	deg	imu (ekf)
opendlv::logic::sensation::Geolocation	113	geolocation	sensor	deg	imu (ekf)
opendlv::sim::KinematicState	2501	velocity	sensor	m/s	SLAM
opendlv::sim::Frame	2501	pose	sensor	m,degree	SLAM
opendlv.logic.perception.ObjectFrameStart
opendlv.logic.perception.ObjectFrameEnd
opendlv.logic.perception.Object
opendlv.logic.perception.ObjectType
opendlv.logic.perception.ObjectPosition
opendlv.logic.sensation.Equilibrioception
opendlv.logic.action.LocalPath	2601	path			pathPlanner
opendlv::proxy::TorqueRequest	2102	torqueLeft	req	0~2400cNm	longCtrl
	2103	torqueRight	req	0~2400cNm	longCtrl
opendlv::proxy::TorqueReading	1932	torqueEstimationRight	sensor	cNm	CANgw-Lynx
	1934	torqueEstimationLeft	sensor	cNm	CANgw-Lynx
opendlv::system::LogMessage	1930	ErrorRightPE	logmsg		CANgw-Lynx
	1931	ErrorLeftPE	logmsg		CANgw-Lynx

*[1]: detailed definition see read me at: https://github.com/chalmersfsd/cfsd-proxy-cangw/tree/cfsd-res
*[2]: detailed definition see read me at: https://github.com/chalmersfsd/cfsd-logic-lynx-state-machine/tree/develop

Sender Stamps Mapping:

Category	Microservice Name -	Offset
Proxy	IMU	0000
	ASNode - GPIO	1000
	ASNode - Analog	1200
	ASNode - PWM	1300
	CANgw - Lynx	1900
	CANgw - res	1800
logic	StateMachine	2100
	longCtrl	2200
	Brake	2300
	velPlan	2400
	SLAM	2500
	pathPlan	2600
	aimPoint	2700
	latCtrl	2800
	MissionCtrl	2900
	Speed estimation	3000