-
Notifications
You must be signed in to change notification settings - Fork 1
/
Autonomy.html
668 lines (658 loc) · 19.9 KB
/
Autonomy.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
<title>Autonomy Messages — IMC v5.4.11 Specification</title>
<link rel="stylesheet" href="_static/pydoctheme.css" type="text/css" />
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
<script type="text/javascript">
var DOCUMENTATION_OPTIONS = {
URL_ROOT: './',
VERSION: '5.4.11',
COLLAPSE_INDEX: false,
FILE_SUFFIX: '.html',
HAS_SOURCE: true
};
</script>
<script type="text/javascript" src="_static/jquery.js"></script>
<script type="text/javascript" src="_static/underscore.js"></script>
<script type="text/javascript" src="_static/doctools.js"></script>
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
<link rel="top" title="IMC v5.4.11 Specification" href="index.html" />
<link rel="next" title="Vision Messages" href="Vision.html" />
<link rel="prev" title="CCU Messages" href="CCU.html" />
</head>
<body>
<div class="document">
<div class="documentwrapper">
<div class="bodywrapper">
<div class="body">
<div class="section" id="autonomy-messages">
<h1>Autonomy Messages<a class="headerlink" href="#autonomy-messages" title="Permalink to this headline">¶</a></h1>
<div class="section" id="vehicle-links">
<span id="vehiclelinks"></span><h2>Vehicle Links<a class="headerlink" href="#vehicle-links" title="Permalink to this headline">¶</a></h2>
<p>This message is sent by the TREX task which gives further information to a TREX instance about connected IMC nodes</p>
<ul class="simple">
<li>Abbreviation: VehicleLinks</li>
<li>Identification Number: 650</li>
<li>Payload Size: 4+ bytes</li>
<li>Message Size: 26+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="11%" />
<col width="11%" />
<col width="5%" />
<col width="15%" />
<col width="43%" />
<col width="16%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Local Name</td>
<td>localname</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The name of the vehicle being controlled</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Active Links</td>
<td>links</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="Networking.html#announce"><span class="std std-ref">Announce</span></a>)</td>
<td>A list of Announce messages with last announces heard</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="trex-observation">
<span id="trexobservation"></span><h2>TREX Observation<a class="headerlink" href="#trex-observation" title="Permalink to this headline">¶</a></h2>
<p>This message is sent to TREX to post timeline observations</p>
<ul class="simple">
<li>Abbreviation: TrexObservation</li>
<li>Identification Number: 651</li>
<li>Payload Size: 6+ bytes</li>
<li>Message Size: 28+ bytes</li>
<li>Flags: deprecated</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="14%" />
<col width="17%" />
<col width="16%" />
<col width="13%" />
<col width="16%" />
<col width="24%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Timeline</td>
<td>timeline</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Predicate</td>
<td>predicate</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Attributes</td>
<td>attributes</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="trex-command">
<span id="trexcommand"></span><h2>TREX Command<a class="headerlink" href="#trex-command" title="Permalink to this headline">¶</a></h2>
<p>This message is used to control TREX execution</p>
<ul class="simple">
<li>Abbreviation: TrexCommand</li>
<li>Identification Number: 652</li>
<li>Payload Size: 5+ bytes</li>
<li>Message Size: 27+ bytes</li>
<li>Flags: deprecated</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="9%" />
<col width="21%" />
<col width="7%" />
<col width="45%" />
<col width="12%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Command</td>
<td>command</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#trexcommand-enum-command"><span class="std std-ref">Enum Command</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Goal Id</td>
<td>goal_id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The id of the goal, if applicable (OP == POST_GOAL || OP == RECALL_GOAL)</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Goal XML</td>
<td>goal_xml</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The goal encoded as XML, if applicable (OP == POST_GOAL)</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-command">
<span id="trexcommand-enum-prefix-op"></span><span id="trexcommand-enum-command"></span><h3>Enum Command<a class="headerlink" href="#enum-command" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: command</li>
<li>Prefix: OP</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="39%" />
<col width="25%" />
<col width="23%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Disable TREX</td>
<td>DISABLE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Enable TREX</td>
<td>ENABLE</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Post Goal</td>
<td>POST_GOAL</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Recall Goal</td>
<td>RECALL_GOAL</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>4</td>
<td>Request current plan</td>
<td>REQUEST_PLAN</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>5</td>
<td>Report current plan</td>
<td>REPORT_PLAN</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="trex-operation">
<span id="trexoperation"></span><h2>TREX Operation<a class="headerlink" href="#trex-operation" title="Permalink to this headline">¶</a></h2>
<p>This message is used to control TREX execution</p>
<ul class="simple">
<li>Abbreviation: TrexOperation</li>
<li>Identification Number: 655</li>
<li>Payload Size: 11+ bytes</li>
<li>Message Size: 33+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="8%" />
<col width="18%" />
<col width="11%" />
<col width="46%" />
<col width="11%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Operation</td>
<td>op</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#trexoperation-enum-op"><span class="std std-ref">Enum Operation</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Goal Id</td>
<td>goal_id</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The id of the goal, if applicable (OP == POST_GOAL || OP == RECALL_GOAL)</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Token</td>
<td>token</td>
<td><em>-</em></td>
<td>message
(<a class="reference internal" href="#trextoken"><span class="std std-ref">TREX Token</span></a>)</td>
<td>Goal / observation to post, if applicable (OP == POST_GOAL || OP == POST_TOKEN)</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-operation">
<span id="trexoperation-enum-prefix-op"></span><span id="trexoperation-enum-op"></span><h3>Enum Operation<a class="headerlink" href="#enum-operation" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: op</li>
<li>Prefix: OP</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="39%" />
<col width="25%" />
<col width="23%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>1</td>
<td>Post Token</td>
<td>POST_TOKEN</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>2</td>
<td>Post Goal</td>
<td>POST_GOAL</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>3</td>
<td>Recall Goal</td>
<td>RECALL_GOAL</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>4</td>
<td>Request current plan</td>
<td>REQUEST_PLAN</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>5</td>
<td>Report current plan</td>
<td>REPORT_PLAN</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="trex-attribute">
<span id="trexattribute"></span><h2>TREX Attribute<a class="headerlink" href="#trex-attribute" title="Permalink to this headline">¶</a></h2>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: TrexAttribute</li>
<li>Identification Number: 656</li>
<li>Payload Size: 7+ bytes</li>
<li>Message Size: 29+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="10%" />
<col width="9%" />
<col width="25%" />
<col width="7%" />
<col width="37%" />
<col width="13%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Attribute Name</td>
<td>name</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Name of this attribute.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Attribute type</td>
<td>attr_type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#trexattribute-enum-attr-type"><span class="std std-ref">Enum Attribute type</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Minimum</td>
<td>min</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Lower bound of this interval. Empty text means no bound.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Maximum</td>
<td>max</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Upper bound of this interval. Empty text means no bound.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-attribute-type">
<span id="trexattribute-enum-prefix-type"></span><span id="trexattribute-enum-attr-type"></span><h3>Enum Attribute type<a class="headerlink" href="#enum-attribute-type" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: attr_type</li>
<li>Prefix: TYPE</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="36%" />
<col width="26%" />
<col width="25%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>1</td>
<td>Boolean Domain</td>
<td>BOOL</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>2</td>
<td>Integer Domain</td>
<td>INT</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>3</td>
<td>Float Domain</td>
<td>FLOAT</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>4</td>
<td>String Domain</td>
<td>STRING</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>5</td>
<td>Enumerated Domain</td>
<td>ENUM</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="trex-token">
<span id="trextoken"></span><h2>TREX Token<a class="headerlink" href="#trex-token" title="Permalink to this headline">¶</a></h2>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: TrexToken</li>
<li>Identification Number: 657</li>
<li>Payload Size: 6+ bytes</li>
<li>Message Size: 28+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="13%" />
<col width="16%" />
<col width="7%" />
<col width="27%" />
<col width="15%" />
<col width="22%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Timeline</td>
<td>timeline</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Predicate</td>
<td>predicate</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Attributes</td>
<td>attributes</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#trexattribute"><span class="std std-ref">TREX Attribute</span></a>)</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="trex-plan">
<span id="trexplan"></span><h2>TREX Plan<a class="headerlink" href="#trex-plan" title="Permalink to this headline">¶</a></h2>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: TrexPlan</li>
<li>Identification Number: 658</li>
<li>Payload Size: 4+ bytes</li>
<li>Message Size: 26+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="16%" />
<col width="16%" />
<col width="7%" />
<col width="23%" />
<col width="15%" />
<col width="23%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Reactor name</td>
<td>reactor</td>
<td><em>-</em></td>
<td>plaintext</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Tokens</td>
<td>tokens</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#trextoken"><span class="std std-ref">TREX Token</span></a>)</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="event">
<span id="id1"></span><h2>Event<a class="headerlink" href="#event" title="Permalink to this headline">¶</a></h2>
<p>This message is used for signaling asynchronous events between different (sub) systems.</p>
<ul class="simple">
<li>Abbreviation: Event</li>
<li>Identification Number: 660</li>
<li>Payload Size: 4+ bytes</li>
<li>Message Size: 26+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="13%" />
<col width="12%" />
<col width="10%" />
<col width="39%" />
<col width="19%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Topic</td>
<td>topic</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The name or type of this event</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Data</td>
<td>data</td>
<td><em>TupleList</em></td>
<td>plaintext</td>
<td>A map with additional event information.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
</div>
</div>
<div class="sphinxsidebar">
<div class="sphinxsidebarwrapper">
<h3><a href="index.html">Table Of Contents</a></h3>
<ul class="current">
<li class="toctree-l1"><a class="reference internal" href="Message Format.html">Message Format</a></li>
<li class="toctree-l1"><a class="reference internal" href="Core.html">Core Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Simulation.html">Simulation Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Storage.html">Storage Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Networking.html">Networking Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Acoustic Networking.html">Acoustic Networking Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Sensors.html">Sensors Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Actuation.html">Actuation Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Navigation.html">Navigation Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Guidance.html">Guidance Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Maneuvering.html">Maneuvering Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vehicle Supervision.html">Vehicle Supervision Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Plan Supervision.html">Plan Supervision Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="CCU.html">CCU Messages</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">Autonomy Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#vehicle-links">Vehicle Links</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-observation">TREX Observation</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-command">TREX Command</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-operation">TREX Operation</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-attribute">TREX Attribute</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-token">TREX Token</a></li>
<li class="toctree-l2"><a class="reference internal" href="#trex-plan">TREX Plan</a></li>
<li class="toctree-l2"><a class="reference internal" href="#event">Event</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="External.html">External Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Development.html">Development Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Custom.html">Custom Messages</a></li>
</ul>
<div id="searchbox" style="display: none">
<h3>Quick search</h3>
<form class="search" action="search.html" method="get">
<input type="text" name="q" />
<input type="submit" value="Go" />
<input type="hidden" name="check_keywords" value="yes" />
<input type="hidden" name="area" value="default" />
</form>
</div>
<script type="text/javascript">$('#searchbox').show(0);</script>
</div>
</div>
<div class="clearer"></div>
</div>
<div class="footer">
© Copyright 2013-2017, Universidade do Porto - Faculdade de Engenharia - LSTS.
<br/>
Last updated on Aug 21, 2019.
</div>
</body>
</html>