Finalize ZCM message types

tbretl / adept-fc

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Finalize ZCM message types #16

Closed atperry2 closed 5 years ago

atperry2 commented 5 years ago

Finalize message types for:

[ ] VN-200 data
[ ] ADC data
[ ] autopilot actuator values
[ ] RC input values
[ ] system status messages
[ ] commanded PWM values
[ ] HITL spoofed data
[ ] others?

atperry2 commented 5 years ago

Is it best to have a single message type with a generic data field (which may require type conversions), or unique messages which each require their own handling class?

tbretl commented 5 years ago

I'm in favor of unique messages, given the architecture we've chosen. By "handling class," I think you mean the autogenerated code, right? So it's just extra files, not really extra work on our part.

atperry2 commented 5 years ago

I was referring to the "handler" class I have defined in several of the source codes. A handler object is created and passed to ZCM to receive messages. I agree though that we should stick with unique types.