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Added source IDs for primary/secondary processing engines #432

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wbrannon wants to merge 2 commits into from
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Added source IDs for primary/secondary processing engines #432

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830c850
Add note for 400-499 source ID range
Sep 3, 2026
10db062
Add source IDs for primary/secondary processing engines
Sep 3, 2026
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5 changes: 5 additions & 0 deletions python/fusion_engine_client/messages/defs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -233,7 +233,12 @@ 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.
# 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

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12 changes: 12 additions & 0 deletions src/point_one/fusion_engine/messages/defs.h
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Expand Up @@ -607,8 +607,20 @@ 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.

// 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,
};
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