Command

Each message includes a command value that defines the content's type of the message's data.

Another feature included in Luos engine is the Object Dictionary (OD), which aims to maintain interoperability of data format and command's type between servicesSoftware element run by Luos that can communicate with other services. It can be a driver or an app..

Commands

Commands is a simple enum list from 0 to N allowing you to choose the data format you want to use on your message. Internally, Luos engine also uses some messages to manage and detect your system. That's why Luos engine has some reserved commands at the begining of this list. User's commands start at LUOS_LAST_RESERVED_CMD.

Common registers for all services

Command	Function
GET_CMD	asks a service to publish its data
SET_CMD	sets some undefined data

Generic data

Command	Function
COLOR	color_t (R, G, B)
IO_STATE	char (True/False)
RATIO	ratio_t (percentage %)
PEDOMETER	long[2] (step number, step time millisecond)
ILLUMINANCE	illuminance_t (lx)
VOLTAGE	voltage_t (Volt)
CURRENT	current_t (Ampere)
POWER	power_t (Watt)
TEMPERATURE	temperature_t (°C)
TIME	time Second (float)
FORCE	force_t (Newton N)
MOMENT	moment_t (Newton meter N.m)
CONTROL	control_mode (control_mode_t)

Configuration commands

Command	Function
REGISTER	a registered data [reg_add, data]
REINIT	char (True/False)
PID	pid_t float\[3\] = {p, i, d}
RESOLUTION	resolution parameter for a sensor float
REDUCTION	reduction factor float (e.g. mechanical)
DIMENSION	dimension of an element m linear_position_t
OFFSET	decay float
SETID	sets Dynamixel ID

Space positioning

Command	Function
ANGULAR_POSITION	angular_position_t (deg)
ANGULAR_SPEED	angular_speed_t (deg/s)
LINEAR_POSITION	linear_position_t (m)
LINEAR_SPEED	linear_speed_t (m/s)
ACCEL_3D	long[3](X, Y, Z axis linear acceleration data in Gees)
GYRO_3D	long[3](X, Y, Z axis rotational acceleration data in degrees per second)
QUATERNION	long[4] (sensor fused w, x, y, z rotational angles)
COMPASS_3D	long[3](magnetic field data in micro tesla on each axis)
EULER_3D	long[3](Pitch, roll, yaw based in degrees with frame reference)
ROT_MAT	short[9] (linear math 9 element matrix representation)
LINEAR_ACCEL	float[3] (linear acceleration in body frame coordinates)
GRAVITY_VECTOR	float[3] (Which access gravity effects)
HEADING	long (360 degrees from North with Y+ axis as the pointer)

Space positioning limits

Command	Function
ANGULAR_POSITION_LIMIT	min angular_position_t (deg), max angular_position_t (deg)
LINEAR_POSITION_LIMIT	min linear_position_t (m), max linear_position_t (m)
RATIO_LIMIT	float(%)
CURRENT_LIMIT	float(A)
ANGULAR_SPEED_LIMIT	min angular_speed_t (deg/s), max angular_speed_t (deg/s)
LINEAR_SPEED_LIMIT	min linear_speed_t (m/s), max linear_speed_t (m/s)
TORQUE_LIMIT	max moment_t (Nm)
TEMPERATURE_LIMIT	max temperature_t (°C)

Specific register

Command	Function
PARAMETERS	depends on the service. It can be: servo_parameters_t, imu_report_t, motor_mode_t
ERROR_CMD

You can find the complete list of commands here.

If you want to create new commands for your custom services, you can create and add your own starting at LUOS_LAST_STD_CMD. See how.