lanyard.health.SystemHealth.1.0

Vehicle-level health summary, published at 1 Hz by the flight controller.
Full name lanyard.health.SystemHealth
Version 1.0
Kind Message
Fixed port ID 6250
Least supported transport CAN FD

Wire layout

Section Extent (bytes) Max serialized (bytes)
Message 512 250

A sealed type reports its extent as its exact serialised size; a delimited type reports the declared @extent, which bounds what a reader must be prepared to receive.

Definition

# Vehicle-level health summary, published at 1 Hz by the flight
# controller.
#
# LEAST SUPPORTED TRANSPORT: CAN FD.
#
# WHY DELIMITED: the subsystem list grows as the airframe gains
# hardware, and the ground station is the slowest thing in the fleet to
# be updated. An extent lets the ground station keep decoding this
# message across several vehicle software releases.

uavcan.time.SynchronizedTimestamp.1.0 timestamp
# Moment the summary was assembled.

uavcan.node.Health.1.0 aggregate_health
# Worst health level among all subsystems below. Precomputed so that a
# consumer that only needs the top-level state -- an annunciator light,
# say -- does not have to walk the array.

void6
# Padding to a byte boundary.

lanyard.health.SubsystemReport.1.0[<=8] subsystem
# One report per monitored subsystem. Sealed elements, so unlike the
# waypoint array in MissionPlan these carry no per-element delimiter
# header; the trade is that SubsystemReport can never gain a field
# without a major bump of its own.

@extent 512 * 8

Generated code

Declaration excerpts only -- the serialisation bodies are omitted for length. Build the showroom target for the complete output in every language and profile.

C

/* Vehicle-level health summary, published at 1 Hz by the flight */
/* controller. */
/*  */
/* LEAST SUPPORTED TRANSPORT: CAN FD. */
/*  */
/* WHY DELIMITED: the subsystem list grows as the airframe gains */
/* hardware, and the ground station is the slowest thing in the fleet to */
/* be updated. An extent lets the ground station keep decoding this */
/* message across several vehicle software releases. */
typedef struct lanyard__health__SystemHealth_1_0 {
  /* Moment the summary was assembled. */
  struct uavcan__time__SynchronizedTimestamp_1_0 timestamp;
  /* Worst health level among all subsystems below. Precomputed so that a */
  /* consumer that only needs the top-level state -- an annunciator light, */
  /* say -- does not have to walk the array. */
  struct uavcan__node__Health_1_0 aggregate_health;
  /* One report per monitored subsystem. Sealed elements, so unlike the */
  /* waypoint array in MissionPlan these carry no per-element delimiter */
  /* header; the trade is that SubsystemReport can never gain a field */
  /* without a major bump of its own. */
  struct {
    struct lanyard__health__SubsystemReport_1_0 elements[8U];
    size_t count;
  } subsystem;
} lanyard__health__SystemHealth_1_0;

C++ (std)

// Vehicle-level health summary, published at 1 Hz by the flight
// controller.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// WHY DELIMITED: the subsystem list grows as the airframe gains
// hardware, and the ground station is the slowest thing in the fleet to
// be updated. An extent lets the ground station keep decoding this
// message across several vehicle software releases.
struct SystemHealth_1_0 {
  // Moment the summary was assembled.
  ::uavcan::time::SynchronizedTimestamp_1_0 timestamp{};
  // Worst health level among all subsystems below. Precomputed so that a
  // consumer that only needs the top-level state -- an annunciator light,
  // say -- does not have to walk the array.
  ::uavcan::node::Health_1_0 aggregate_health{};
  // One report per monitored subsystem. Sealed elements, so unlike the
  // waypoint array in MissionPlan these carry no per-element delimiter
  // header; the trade is that SubsystemReport can never gain a field
  // without a major bump of its own.
  std::vector<::lanyard::health::SubsystemReport_1_0> subsystem{};
  static constexpr const char* FULL_NAME = "lanyard.health.SystemHealth";
  static constexpr bool IS_DEPRECATED = false;
  static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.health.SystemHealth.1.0";
  static constexpr std::size_t EXTENT_BYTES = 512U;
  static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 250U;
  static constexpr bool WIRE_FLAT = false;
  static constexpr const char* WIRE_FLAT_REASON = "nested-not-flat";
  static constexpr bool HOST_IMAGE = false;
  static constexpr const char* HOST_IMAGE_REASON = "nested-not-flat";
  static constexpr bool HAS_FIXED_PORT_ID = true;
  static constexpr std::uint16_t FIXED_PORT_ID = 6250U;
  static constexpr std::uint64_t SUBSYSTEM_ARRAY_CAPACITY = 8U;
  static constexpr bool SUBSYSTEM_ARRAY_IS_VARIABLE_LENGTH = true;
  LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
    return SystemHealth_1_0_serialize_(this, buffer, inout_buffer_size_bytes);
  }
  LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
    return SystemHealth_1_0_deserialize_(this, buffer, inout_buffer_size_bytes);
  }
};

C++ (pmr)

Polymorphic-allocator profile: variable-length fields route through std::pmr.

// Vehicle-level health summary, published at 1 Hz by the flight
// controller.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// WHY DELIMITED: the subsystem list grows as the airframe gains
// hardware, and the ground station is the slowest thing in the fleet to
// be updated. An extent lets the ground station keep decoding this
// message across several vehicle software releases.
struct SystemHealth_1_0 {
  // Moment the summary was assembled.
  ::uavcan::time::SynchronizedTimestamp_1_0 timestamp{};
  // Worst health level among all subsystems below. Precomputed so that a
  // consumer that only needs the top-level state -- an annunciator light,
  // say -- does not have to walk the array.
  ::uavcan::node::Health_1_0 aggregate_health{};
  // One report per monitored subsystem. Sealed elements, so unlike the
  // waypoint array in MissionPlan these carry no per-element delimiter
  // header; the trade is that SubsystemReport can never gain a field
  // without a major bump of its own.
  std::pmr::vector<::lanyard::health::SubsystemReport_1_0> subsystem{};
  ::llvmdsdl::cpp::MemoryResource* _memory_resource{::llvmdsdl::cpp::default_memory_resource()};
  SystemHealth_1_0() = default;
  explicit SystemHealth_1_0(::llvmdsdl::cpp::MemoryResource* memory_resource) { set_memory_resource(memory_resource); }
  void set_memory_resource(::llvmdsdl::cpp::MemoryResource* memory_resource) {
    _memory_resource = (memory_resource != nullptr) ? memory_resource : ::llvmdsdl::cpp::default_memory_resource();
    subsystem = decltype(subsystem)(_memory_resource);
    timestamp.set_memory_resource(_memory_resource);
    aggregate_health.set_memory_resource(_memory_resource);
    for (std::size_t subsystem_index = 0U; subsystem_index < subsystem.size(); ++subsystem_index) {
      subsystem[subsystem_index].set_memory_resource(_memory_resource);
    }
  }
  static constexpr const char* FULL_NAME = "lanyard.health.SystemHealth";
  static constexpr bool IS_DEPRECATED = false;
  static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.health.SystemHealth.1.0";
  static constexpr std::size_t EXTENT_BYTES = 512U;
  static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 250U;
  static constexpr bool WIRE_FLAT = false;
  static constexpr const char* WIRE_FLAT_REASON = "nested-not-flat";
  static constexpr bool HOST_IMAGE = false;
  static constexpr const char* HOST_IMAGE_REASON = "nested-not-flat";
  static constexpr bool HAS_FIXED_PORT_ID = true;
  static constexpr std::uint16_t FIXED_PORT_ID = 6250U;
  static constexpr std::uint64_t SUBSYSTEM_ARRAY_CAPACITY = 8U;
  static constexpr bool SUBSYSTEM_ARRAY_IS_VARIABLE_LENGTH = true;
  LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
    return SystemHealth_1_0_serialize_(this, buffer, inout_buffer_size_bytes, _memory_resource);
  }
  LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
    return SystemHealth_1_0_deserialize_(this, buffer, inout_buffer_size_bytes, _memory_resource);
  }
  LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes, ::llvmdsdl::cpp::MemoryResource* memory_resource) const {
    return SystemHealth_1_0_serialize_(this, buffer, inout_buffer_size_bytes, memory_resource);
  }
  LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes, ::llvmdsdl::cpp::MemoryResource* memory_resource) {
    return SystemHealth_1_0_deserialize_(this, buffer, inout_buffer_size_bytes, memory_resource);
  }
};

C++ (autosar)

AUTOSAR C++14 subset profile.

// Vehicle-level health summary, published at 1 Hz by the flight
// controller.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// WHY DELIMITED: the subsystem list grows as the airframe gains
// hardware, and the ground station is the slowest thing in the fleet to
// be updated. An extent lets the ground station keep decoding this
// message across several vehicle software releases.
struct SystemHealth_1_0 {
  // Moment the summary was assembled.
  ::uavcan::time::SynchronizedTimestamp_1_0 timestamp{};
  // Worst health level among all subsystems below. Precomputed so that a
  // consumer that only needs the top-level state -- an annunciator light,
  // say -- does not have to walk the array.
  ::uavcan::node::Health_1_0 aggregate_health{};
  // One report per monitored subsystem. Sealed elements, so unlike the
  // waypoint array in MissionPlan these carry no per-element delimiter
  // header; the trade is that SubsystemReport can never gain a field
  // without a major bump of its own.
  ::llvmdsdl::cpp::autosar::BoundedVector<::lanyard::health::SubsystemReport_1_0, 8U> subsystem{};
  static constexpr const char* FULL_NAME = "lanyard.health.SystemHealth";
  static constexpr bool IS_DEPRECATED = false;
  static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.health.SystemHealth.1.0";
  static constexpr std::size_t EXTENT_BYTES = 512U;
  static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 250U;
  static constexpr bool WIRE_FLAT = false;
  static constexpr const char* WIRE_FLAT_REASON = "nested-not-flat";
  static constexpr bool HOST_IMAGE = false;
  static constexpr const char* HOST_IMAGE_REASON = "nested-not-flat";
  static constexpr bool HAS_FIXED_PORT_ID = true;
  static constexpr std::uint16_t FIXED_PORT_ID = 6250U;
  static constexpr std::uint64_t SUBSYSTEM_ARRAY_CAPACITY = 8U;
  static constexpr bool SUBSYSTEM_ARRAY_IS_VARIABLE_LENGTH = true;
  LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
    return SystemHealth_1_0_serialize_(this, buffer, inout_buffer_size_bytes);
  }
  LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
    return SystemHealth_1_0_deserialize_(this, buffer, inout_buffer_size_bytes);
  }
};

Rust (std)

/// Vehicle-level health summary, published at 1 Hz by the flight
/// controller.
///
/// LEAST SUPPORTED TRANSPORT: CAN FD.
///
/// WHY DELIMITED: the subsystem list grows as the airframe gains
/// hardware, and the ground station is the slowest thing in the fleet to
/// be updated. An extent lets the ground station keep decoding this
/// message across several vehicle software releases.
#[derive(Clone, Debug, PartialEq)]
pub struct lanyard_health_SystemHealth_1_0 {
    /// Moment the summary was assembled.
    pub timestamp: uavcan_time_SynchronizedTimestamp_1_0,
    /// Worst health level among all subsystems below. Precomputed so that a
    /// consumer that only needs the top-level state -- an annunciator light,
    /// say -- does not have to walk the array.
    pub aggregate_health: uavcan_node_Health_1_0,
    /// One report per monitored subsystem. Sealed elements, so unlike the
    /// waypoint array in MissionPlan these carry no per-element delimiter
    /// header; the trade is that SubsystemReport can never gain a field
    /// without a major bump of its own.
    pub subsystem: crate::dsdl_runtime::DsdlVec<lanyard_health_SubsystemReport_1_0>,
}

Rust (no-std)

no_std + alloc profile, as a flight-controller firmware build would use.

/// Vehicle-level health summary, published at 1 Hz by the flight
/// controller.
///
/// LEAST SUPPORTED TRANSPORT: CAN FD.
///
/// WHY DELIMITED: the subsystem list grows as the airframe gains
/// hardware, and the ground station is the slowest thing in the fleet to
/// be updated. An extent lets the ground station keep decoding this
/// message across several vehicle software releases.
#[derive(Clone, Debug, PartialEq)]
pub struct lanyard_health_SystemHealth_1_0 {
    /// Moment the summary was assembled.
    pub timestamp: uavcan_time_SynchronizedTimestamp_1_0,
    /// Worst health level among all subsystems below. Precomputed so that a
    /// consumer that only needs the top-level state -- an annunciator light,
    /// say -- does not have to walk the array.
    pub aggregate_health: uavcan_node_Health_1_0,
    /// One report per monitored subsystem. Sealed elements, so unlike the
    /// waypoint array in MissionPlan these carry no per-element delimiter
    /// header; the trade is that SubsystemReport can never gain a field
    /// without a major bump of its own.
    pub subsystem: crate::dsdl_runtime::DsdlVec<lanyard_health_SubsystemReport_1_0>,
}

Go

// Vehicle-level health summary, published at 1 Hz by the flight
// controller.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// WHY DELIMITED: the subsystem list grows as the airframe gains
// hardware, and the ground station is the slowest thing in the fleet to
// be updated. An extent lets the ground station keep decoding this
// message across several vehicle software releases.
type SystemHealth_1_0 struct {
    // Moment the summary was assembled.
    Timestamp pkg_uavcan_time.SynchronizedTimestamp_1_0
    // Worst health level among all subsystems below. Precomputed so that a
    // consumer that only needs the top-level state -- an annunciator light,
    // say -- does not have to walk the array.
    AggregateHealth pkg_uavcan_node.Health_1_0
    // One report per monitored subsystem. Sealed elements, so unlike the
    // waypoint array in MissionPlan these carry no per-element delimiter
    // header; the trade is that SubsystemReport can never gain a field
    // without a major bump of its own.
    Subsystem []SubsystemReport_1_0
}

TypeScript

// Vehicle-level health summary, published at 1 Hz by the flight
// controller.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// WHY DELIMITED: the subsystem list grows as the airframe gains
// hardware, and the ground station is the slowest thing in the fleet to
// be updated. An extent lets the ground station keep decoding this
// message across several vehicle software releases.
export interface SystemHealth_1_0 {
  // Moment the summary was assembled.
  timestamp: SynchronizedTimestamp_1_0;
  // Worst health level among all subsystems below. Precomputed so that a
  // consumer that only needs the top-level state -- an annunciator light,
  // say -- does not have to walk the array.
  aggregate_health: Health_1_0;
  // One report per monitored subsystem. Sealed elements, so unlike the
  // waypoint array in MissionPlan these carry no per-element delimiter
  // header; the trade is that SubsystemReport can never gain a field
  // without a major bump of its own.
  subsystem: Array<SubsystemReport_1_0>;
}

Python

# Vehicle-level health summary, published at 1 Hz by the flight
# controller.
#
# LEAST SUPPORTED TRANSPORT: CAN FD.
#
# WHY DELIMITED: the subsystem list grows as the airframe gains
# hardware, and the ground station is the slowest thing in the fleet to
# be updated. An extent lets the ground station keep decoding this
# message across several vehicle software releases.
@dataclass(slots=True)
class SystemHealth_1_0:
    # Moment the summary was assembled.
    timestamp: SynchronizedTimestamp_1_0 = field(default_factory=lambda: SynchronizedTimestamp_1_0())
    # Worst health level among all subsystems below. Precomputed so that a
    # consumer that only needs the top-level state -- an annunciator light,
    # say -- does not have to walk the array.
    aggregate_health: Health_1_0 = field(default_factory=lambda: Health_1_0())
    # One report per monitored subsystem. Sealed elements, so unlike the
    # waypoint array in MissionPlan these carry no per-element delimiter
    # header; the trade is that SubsystemReport can never gain a field
    # without a major bump of its own.
    subsystem: list[SubsystemReport_1_0] = field(default_factory=list)

Every build recipe compiles this definition along with the rest of the namespace.