From 830c850d07f180330ae6c555a4a6a10c9a36324d Mon Sep 17 00:00:00 2001 From: William Brannon Date: Thu, 3 Sep 2026 12:31:52 -0700 Subject: [PATCH 1/2] Add note for 400-499 source ID range --- python/fusion_engine_client/messages/defs.py | 1 + src/point_one/fusion_engine/messages/defs.h | 2 ++ 2 files changed, 3 insertions(+) diff --git a/python/fusion_engine_client/messages/defs.py b/python/fusion_engine_client/messages/defs.py index 96cae695..13834b73 100644 --- a/python/fusion_engine_client/messages/defs.py +++ b/python/fusion_engine_client/messages/defs.py @@ -233,6 +233,7 @@ class SourceIdentifier(IntEnum): # 300 - 399 is reserved for GNSS receivers/antennae. PRIMARY_GNSS_ANTENNA = 300 SECONDARY_GNSS_ANTENNA = 301 + # 400 - 499 is reserved for wheel speeds. # 500 - 599 is reserved for external pose sources, such as an external SLAM or VIO/LIO. ## Invalid source identifier. INVALID = 0xFFFFFFFF diff --git a/src/point_one/fusion_engine/messages/defs.h b/src/point_one/fusion_engine/messages/defs.h index f988c8b2..0cc4316f 100644 --- a/src/point_one/fusion_engine/messages/defs.h +++ b/src/point_one/fusion_engine/messages/defs.h @@ -607,6 +607,8 @@ enum class SourceIdentifier : uint32_t { */ SECONDARY_GNSS_ANTENNA = 301, + // 400 - 499 is reserved for wheel speeds. + // 500 - 599 is reserved for external pose sources, such as an external SLAM // or VIO/LIO. /** Invalid source identifier. */ From 10db062361c4cbc65fc1a4bc99b0c40361227186 Mon Sep 17 00:00:00 2001 From: William Brannon Date: Thu, 3 Sep 2026 15:00:09 -0700 Subject: [PATCH 2/2] Add source IDs for primary/secondary processing engines --- python/fusion_engine_client/messages/defs.py | 4 ++++ src/point_one/fusion_engine/messages/defs.h | 10 ++++++++++ 2 files changed, 14 insertions(+) diff --git a/python/fusion_engine_client/messages/defs.py b/python/fusion_engine_client/messages/defs.py index 13834b73..7829fa03 100644 --- a/python/fusion_engine_client/messages/defs.py +++ b/python/fusion_engine_client/messages/defs.py @@ -235,6 +235,10 @@ class SourceIdentifier(IntEnum): SECONDARY_GNSS_ANTENNA = 301 # 400 - 499 is reserved for wheel speeds. # 500 - 599 is reserved for external pose sources, such as an external SLAM or VIO/LIO. + # 600 - 699 is reserved for redundant/secondary processing engines. The ranges above identify the sensor or vehicle + # location that the data corresponds to. These instead identify *which device/process produced a message*. + PRIMARY_PROCESSING_ENGINE = 600 + SECONDARY_PROCESSING_ENGINE = 601 ## Invalid source identifier. INVALID = 0xFFFFFFFF diff --git a/src/point_one/fusion_engine/messages/defs.h b/src/point_one/fusion_engine/messages/defs.h index 0cc4316f..27a4ac10 100644 --- a/src/point_one/fusion_engine/messages/defs.h +++ b/src/point_one/fusion_engine/messages/defs.h @@ -611,6 +611,16 @@ enum class SourceIdentifier : uint32_t { // 500 - 599 is reserved for external pose sources, such as an external SLAM // or VIO/LIO. + + // 600 - 699 is reserved for redundant/secondary processing engines. The + // ranges above identify the sensor or vehicle location that the data + // corresponds to. These instead identify *which device/process produced a + // message*. + /** The primary processing engine. */ + PRIMARY_PROCESSING_ENGINE = 600, + /** A redundant/secondary processing engine. */ + SECONDARY_PROCESSING_ENGINE = 601, + /** Invalid source identifier. */ INVALID = 0xFFFFFFFF, };