From 598727dfc3c19e7db48e4a78e7a9b574d561de96 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 15:15:04 -0400
Subject: [PATCH] Added Python descriptions for using set/get config messages.

---
 python/examples/send_command.py               |  4 +-
 .../messages/configuration.py                 | 64 ++++++++++++++++---
 2 files changed, 59 insertions(+), 9 deletions(-)

diff --git a/python/examples/send_command.py b/python/examples/send_command.py
index e31fff79..37505105 100755
--- a/python/examples/send_command.py
+++ b/python/examples/send_command.py
@@ -68,7 +68,9 @@
     #                          protocol=ProtocolType.FUSION_ENGINE,
     #                          message_id=MessageType.POSE,
     #                          rate=MessageRate.ON_CHANGE)
-    # message = SetConfigMessage(InterfaceDirectionConfig(TransportDirection.SERVER),
+    # message = SetConfigMessage(InterfaceDiagnosticMessagesEnabled(True),
+    #                            interface=InterfaceID(TransportType.TCP, 0))
+    # message = GetConfigMessage(InterfaceDiagnosticMessagesEnabled,
     #                            interface=InterfaceID(TransportType.TCP, 0))
     # message = FaultControlMessage(payload=FaultControlMessage.EnableGNSS(False))
 
diff --git a/python/fusion_engine_client/messages/configuration.py b/python/fusion_engine_client/messages/configuration.py
index a7407b8b..0171a359 100644
--- a/python/fusion_engine_client/messages/configuration.py
+++ b/python/fusion_engine_client/messages/configuration.py
@@ -764,6 +764,35 @@ class Empty(NamedTuple):
 _conf_gen = _ConfigClassGenerator()
 
 
+########################################################################################################################
+# Device configuration settings (lever arms, orientation, wheel speed settings, etc.).
+#
+# The classes below may be passed to a SetConfigMessage or returned by a ConfigResponseMessage using the `config_object`
+# field. For example:
+# ```
+# SetConfigMessage(GNSSLeverArmConfig(0.4, 0.0, 1.2))
+# SetConfigMessage(EnabledGNSSSystemsConfig(SatelliteType.GPS, SatelliteType.GALILEO))
+#
+# GetConfigMessage(GNSSLeverArmConfig)
+# config_response.config_object.x == 0.4
+# ```
+#
+# Note that many of these configuration classes share common parameters, and their fields are defined by their specified
+# base classes. For example, `GNSSLeverArmConfig` inherits from `Point3F` and contains `x`, `y`, and `z` fields as
+# follows:
+# ```
+# class Point3F(NamedTuple):
+#     """!
+#     @brief 3D coordinate specifier, stored as 32-bit float values.
+#     """
+#     x: float = math.nan
+#     y: float = math.nan
+#     z: float = math.nan
+# class GNSSLeverArmConfig(_conf_gen.Point3F): ...
+# ```
+########################################################################################################################
+
+
 @_conf_gen.create_config_class(ConfigType.DEVICE_LEVER_ARM, _conf_gen.Point3FConstruct)
 class DeviceLeverArmConfig(_conf_gen.Point3F):
     """!
@@ -957,6 +986,33 @@ class HeadingBias(_conf_gen.HeadingBias):
     pass
 
 
+@_conf_gen.create_config_class(ConfigType.INVALID, _conf_gen.EmptyConstruct)
+class InvalidConfig(_conf_gen.Empty):
+    """!
+    @brief Placeholder for empty invalid configuration messages.
+    """
+    pass
+
+
+########################################################################################################################
+# Input/output interface controls.
+#
+# When configuring I/O interfaces, you must specify the desired interface:
+#
+# Examples:
+# ```
+# SetConfigMessage(
+#     InterfaceDiagnosticMessagesEnabled(True),
+#     interface=InterfaceID(TransportType.TCP, 0))
+#
+# GetConfigMessage(
+#     InterfaceDiagnosticMessagesEnabled,
+#     interface=InterfaceID(TransportType.TCP, 0))
+# config_response.config_object.value == True
+# ```
+########################################################################################################################
+
+
 @_conf_gen.create_interface_config_class(InterfaceConfigType.BAUD_RATE, _conf_gen.UInt32Construct)
 class InterfaceBaudRateConfig(_conf_gen.IntegerVal):
     """!
@@ -1013,14 +1069,6 @@ class InterfaceDiagnosticMessagesEnabled(_conf_gen.BoolVal):
     pass
 
 
-@_conf_gen.create_config_class(ConfigType.INVALID, _conf_gen.EmptyConstruct)
-class InvalidConfig(_conf_gen.Empty):
-    """!
-    @brief Placeholder for empty invalid configuration messages.
-    """
-    pass
-
-
 class InterfaceConfigSubmessage(NamedTuple):
     interface: InterfaceID = InterfaceID()
     subtype: InterfaceConfigType = InterfaceConfigType.INVALID