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Add integrity status fault type #296

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merged 2 commits into from
Feb 8, 2024
Merged

Add integrity status fault type #296

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85fdeff
Add integrity status fault type
wbrannon Feb 7, 2024
91b49d9
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wbrannon Feb 8, 2024
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17 changes: 17 additions & 0 deletions python/fusion_engine_client/messages/fault_control.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ class FaultType(IntEnum):
ENABLE_GNSS = 4
REGION_BLACKOUT = 5
QUECTEL_TEST = 6
INTEGRITY_STATUS = 7


class CoComType(IntEnum):
Expand Down Expand Up @@ -90,6 +91,15 @@ class CoComLimit(NamedTuple):
"value" / AutoEnum(Int8ul, CoComType),
)

class IntegrityStatus(NamedTuple):
"""!
@brief Integrity status specifier.
"""
value: Int8ul

IntegrityStatusConstruct = Struct(
"value" / Int8ul,
)

_class_gen = _FaultPayloadGenerator()

Expand Down Expand Up @@ -164,6 +174,13 @@ class QuectelTest(_class_gen.Bool):
"""
pass

@_class_gen.create_payload_class(FaultType.INTEGRITY_STATUS, _class_gen.IntegrityStatusConstruct)
class IntegrityStatus(_class_gen.IntegrityStatus):
"""!
@brief Simulate a specified integrity status failure (intended for factory test purposes only).
"""
pass

FaultControlMessageConstruct = Struct(
"fault_type" / AutoEnum(Int8ul, FaultType),
Padding(15),
Expand Down
10 changes: 10 additions & 0 deletions src/point_one/fusion_engine/messages/fault_control.h
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Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,13 @@ enum class FaultType : uint8_t {
* Payload format: `uint8_t` (0=disable, 1=enable)
*/
QUECTEL_TEST = 6,
/**
* Simulate a specified integrity status failure (intended for factory test
* purposes only).
*
* Payload format: `uint8_t`
*/
INTEGRITY_STATUS = 7,
};

/**
Expand Down Expand Up @@ -135,6 +142,9 @@ P1_CONSTEXPR_FUNC const char* to_string(FaultType type) {
case FaultType::QUECTEL_TEST:
return "Quectel Test";

case FaultType::INTEGRITY_STATUS:
return "Integrity Status";

default:
return "Unrecognized";
}
Expand Down
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