The interim data configuration file is used to identify the interim data units that correspond to interim data. All interim data units that publishers and subscribers can use to publish and receive interim data are identified in this configuration file.
The configuration for interim data units is specified in a section enclosed by begin DATAUNIT and end DATAUNIT, where DATAUNIT is a enumerator from sensor_interim_data_unit_t (Sensor library), such as INTERIM_DATA_UNIT_1. For more information about sensor_interim_data_unit_t, see sensor_interim_data_unit_t in the Sensor Library chapter of the Sensor Developer's Guide.
The identifiers you use must follow these rules:
For example, you can't name your second interim data unit INTERIM_DATA_UNIT_5; it should be named INTERIM_DATA_UNIT_2. Though it isn't necessary to order your definitions in sequential order within the file, it is recommended that you do so to make it easier to read and to maintain the file. For example, the following are valid configurations for interim data, which follow the rules mentioned previously:
begin INTERIM_DATA_UNIT_1 num_buffers = 5 buffer_size = 65535 queue_depth = 5 data_format = SENSOR_FORMAT_USER_DATA data_id = 1 name = tracked_objects position = -25.2, 13.25, -7.278 direction = 128.9, -221, 17.98 end INTERIM_DATA_UNIT_1 begin INTERIM_DATA_UNIT_2 num_buffers = 3 buffer_size = 512 queue_depth = 1 data_format = SENSOR_FORMAT_USER_DATA data_id = 2 name = sign_detected end INTERIM_DATA_UNIT_2
There are parameters that you can use to configure an interim data unit. The name, position, and direction specified for each are useful when an application wants to know more information about the sensor.