From 2adcf31dcda2c643413901fc9c267c7355eb5435 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Wed, 5 Jun 2024 13:14:20 -0400
Subject: [PATCH 01/13] Renamed SocketType to UNIXSocketType for clarity.

---
 .../fusion_engine/messages/configuration.h    | 29 ++++++++++---------
 1 file changed, 15 insertions(+), 14 deletions(-)

diff --git a/src/point_one/fusion_engine/messages/configuration.h b/src/point_one/fusion_engine/messages/configuration.h
index c25077bce..424cb70aa 100644
--- a/src/point_one/fusion_engine/messages/configuration.h
+++ b/src/point_one/fusion_engine/messages/configuration.h
@@ -1598,9 +1598,9 @@ enum class InterfaceConfigType : uint8_t {
    * Valid for:
    * - @ref TransportType::UNIX
    *
-   * Payload format: @ref SocketType
+   * Payload format: @ref UNIXSocketType
    */
-  SOCKET_TYPE = 7,
+  UNIX_SOCKET_TYPE = 7,
 };
 
 /**
@@ -1634,8 +1634,8 @@ P1_CONSTEXPR_FUNC const char* to_string(InterfaceConfigType type) {
     case InterfaceConfigType::DIRECTION:
       return "Transport Direction";
 
-    case InterfaceConfigType::SOCKET_TYPE:
-      return "Socket Type";
+    case InterfaceConfigType::UNIX_SOCKET_TYPE:
+      return "UNIX Socket Type";
 
     default:
       return "Unrecognized Configuration";
@@ -1764,7 +1764,7 @@ enum class TransportType : uint8_t {
    *
    * For a UNIX domain socket, you must specify:
    * - The @ref TransportDirection (client or server)
-   * - The @ref SocketType (streaming, datagram, or sequenced)
+   * - The @ref UNIXSocketType (streaming, datagram, or sequenced)
    * - The path to a socket file to connect to (client) or create (server)
    */
   UNIX = 8,
@@ -1866,7 +1866,7 @@ inline p1_ostream& operator<<(p1_ostream& stream, TransportDirection val) {
  *        sockets.
  * @ingroup io_interfaces
  */
-enum class SocketType : uint8_t {
+enum class UNIXSocketType : uint8_t {
   INVALID = 0,
   /**
    * Operate in connection-oriented streaming mode and do not preserve message
@@ -1886,32 +1886,33 @@ enum class SocketType : uint8_t {
 };
 
 /**
- * @brief Get a human-friendly string name for the specified @ref SocketType.
+ * @brief Get a human-friendly string name for the specified @ref
+ *        UNIXSocketType.
  * @ingroup io_interfaces
  *
  * @param val The enum to get the string name for.
  *
  * @return The corresponding string name.
  */
-P1_CONSTEXPR_FUNC const char* to_string(SocketType val) {
+P1_CONSTEXPR_FUNC const char* to_string(UNIXSocketType val) {
   switch (val) {
-    case SocketType::INVALID:
+    case UNIXSocketType::INVALID:
       return "INVALID";
-    case SocketType::STREAM:
+    case UNIXSocketType::STREAM:
       return "STREAM";
-    case SocketType::DATAGRAM:
+    case UNIXSocketType::DATAGRAM:
       return "DATAGRAM";
-    case SocketType::SEQPACKET:
+    case UNIXSocketType::SEQPACKET:
       return "SEQPACKET";
   }
   return "Unrecognized";
 }
 
 /**
- * @brief @ref SocketType stream operator.
+ * @brief @ref UNIXSocketType stream operator.
  * @ingroup io_interfaces
  */
-inline p1_ostream& operator<<(p1_ostream& stream, SocketType val) {
+inline p1_ostream& operator<<(p1_ostream& stream, UNIXSocketType val) {
   stream << to_string(val) << " (" << (int)val << ")";
   return stream;
 }

From 7831522299d2282be580a662b4f8c4d7e71074c3 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Wed, 5 Jun 2024 13:19:14 -0400
Subject: [PATCH 02/13] Added InterfaceConfigType::ALL_PARAMETERS option for
 bulk configuration.

---
 .../fusion_engine/messages/configuration.h    | 67 +++++++++++++++++++
 1 file changed, 67 insertions(+)

diff --git a/src/point_one/fusion_engine/messages/configuration.h b/src/point_one/fusion_engine/messages/configuration.h
index 424cb70aa..6ca1eef34 100644
--- a/src/point_one/fusion_engine/messages/configuration.h
+++ b/src/point_one/fusion_engine/messages/configuration.h
@@ -1601,6 +1601,18 @@ enum class InterfaceConfigType : uint8_t {
    * Payload format: @ref UNIXSocketType
    */
   UNIX_SOCKET_TYPE = 7,
+
+  /**
+   * Configure all settings for the specified interface/transport type.
+   *
+   * Payload format depends on the @ref TransportType%:
+   * - @ref TransportType::SERIAL - @ref SerialConfig
+   * - @ref TransportType::TCP - @ref TCPConfig
+   * - @ref TransportType::UDP - @ref UDPConfig
+   * - @ref TransportType::WEBSOCKET - @ref WebsocketConfig
+   * - @ref TransportType::UNIX - @ref UNIXSocketConfig
+   */
+  ALL_PARAMETERS = 8,
 };
 
 /**
@@ -1637,6 +1649,9 @@ P1_CONSTEXPR_FUNC const char* to_string(InterfaceConfigType type) {
     case InterfaceConfigType::UNIX_SOCKET_TYPE:
       return "UNIX Socket Type";
 
+    case InterfaceConfigType::ALL_PARAMETERS:
+      return "All Parameters";
+
     default:
       return "Unrecognized Configuration";
   }
@@ -2218,6 +2233,58 @@ inline p1_ostream& operator<<(p1_ostream& stream, MessageRate val) {
   return stream;
 }
 
+/**
+ * @param TCP client/server interface configuration parameters.
+ * @ingroup io_interfaces
+ */
+struct P1_ALIGNAS(4) TCPConfig {
+  TransportDirection direction = TransportDirection::SERVER;
+  uint8_t reserved[1] = {0};
+  uint16_t port = 0;
+  char remote_address[64] = {0};
+};
+
+/**
+ * @param UDP interface configuration parameters.
+ * @ingroup io_interfaces
+ */
+struct P1_ALIGNAS(4) UDPConfig {
+  uint8_t reserved[2] = {0};
+  uint16_t port = 0;
+  char remote_address[64] = {0};
+};
+
+/**
+ * @param WebSocket client/server interface configuration parameters.
+ * @ingroup io_interfaces
+ */
+struct P1_ALIGNAS(4) WebsocketConfig {
+  TransportDirection direction = TransportDirection::SERVER;
+  uint8_t reserved[1] = {0};
+  uint16_t port = 0;
+  char remote_address[64] = {0};
+};
+
+/**
+ * @param UNIX domain socket client/server interface configuration parameters.
+ * @ingroup io_interfaces
+ */
+struct P1_ALIGNAS(4) UNIXSocketConfig {
+  TransportDirection direction = TransportDirection::SERVER;
+  UNIXSocketType socket_type = UNIXSocketType::STREAM;
+  uint8_t reserved[2] = {0};
+  char path[64] = {0};
+};
+
+/**
+ * @param Serial port (UART) interface configuration parameters.
+ * @ingroup io_interfaces
+ */
+struct P1_ALIGNAS(4) SerialConfig {
+  uint32_t baud_rate = 0;
+  char device_path[64] = {0};
+};
+
 /**
  * @brief I/O interface parameter configuration submessage (used when sending
  *        a @ref SetConfigMessage or @ref GetConfigMessage for @ref

From e9dea0e1046f6978a8d65f5582b7db3b2da984cc Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 10:42:23 -0400
Subject: [PATCH 03/13] Added enabled bool to all transport config structs.

---
 src/point_one/fusion_engine/messages/configuration.h | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/src/point_one/fusion_engine/messages/configuration.h b/src/point_one/fusion_engine/messages/configuration.h
index 6ca1eef34..1941830a9 100644
--- a/src/point_one/fusion_engine/messages/configuration.h
+++ b/src/point_one/fusion_engine/messages/configuration.h
@@ -2238,8 +2238,8 @@ inline p1_ostream& operator<<(p1_ostream& stream, MessageRate val) {
  * @ingroup io_interfaces
  */
 struct P1_ALIGNAS(4) TCPConfig {
+  uint8_t enabled = 1;
   TransportDirection direction = TransportDirection::SERVER;
-  uint8_t reserved[1] = {0};
   uint16_t port = 0;
   char remote_address[64] = {0};
 };
@@ -2249,7 +2249,8 @@ struct P1_ALIGNAS(4) TCPConfig {
  * @ingroup io_interfaces
  */
 struct P1_ALIGNAS(4) UDPConfig {
-  uint8_t reserved[2] = {0};
+  uint8_t enabled = 1;
+  uint8_t reserved[1] = {0};
   uint16_t port = 0;
   char remote_address[64] = {0};
 };
@@ -2259,8 +2260,8 @@ struct P1_ALIGNAS(4) UDPConfig {
  * @ingroup io_interfaces
  */
 struct P1_ALIGNAS(4) WebsocketConfig {
+  uint8_t enabled = 1;
   TransportDirection direction = TransportDirection::SERVER;
-  uint8_t reserved[1] = {0};
   uint16_t port = 0;
   char remote_address[64] = {0};
 };
@@ -2270,9 +2271,10 @@ struct P1_ALIGNAS(4) WebsocketConfig {
  * @ingroup io_interfaces
  */
 struct P1_ALIGNAS(4) UNIXSocketConfig {
+  uint8_t enabled = 1;
   TransportDirection direction = TransportDirection::SERVER;
   UNIXSocketType socket_type = UNIXSocketType::STREAM;
-  uint8_t reserved[2] = {0};
+  uint8_t reserved[1] = {0};
   char path[64] = {0};
 };
 
@@ -2281,6 +2283,8 @@ struct P1_ALIGNAS(4) UNIXSocketConfig {
  * @ingroup io_interfaces
  */
 struct P1_ALIGNAS(4) SerialConfig {
+  uint8_t enabled = 1;
+  uint8_t reserved[3] = {0};
   uint32_t baud_rate = 0;
   char device_path[64] = {0};
 };

From b84ec979f2d817a6006071fabcad8a7231e7ede8 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 10:43:50 -0400
Subject: [PATCH 04/13] Minor review cleanup.

---
 python/fusion_engine_client/messages/configuration.py | 2 +-
 src/point_one/fusion_engine/messages/configuration.h  | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/python/fusion_engine_client/messages/configuration.py b/python/fusion_engine_client/messages/configuration.py
index 99432b5cc..94541dea2 100644
--- a/python/fusion_engine_client/messages/configuration.py
+++ b/python/fusion_engine_client/messages/configuration.py
@@ -320,7 +320,7 @@ def GetType(cls) -> ConfigType:
 
     class InterfaceConfigClass(ConfigClass):
         """!
-        @brief Abstract base class for accessing configuration types.
+        @brief Abstract base class for accessing I/O interface configuration types.
         """
         @classmethod
         def GetType(cls) -> ConfigType:
diff --git a/src/point_one/fusion_engine/messages/configuration.h b/src/point_one/fusion_engine/messages/configuration.h
index 1941830a9..401e06ccd 100644
--- a/src/point_one/fusion_engine/messages/configuration.h
+++ b/src/point_one/fusion_engine/messages/configuration.h
@@ -1603,7 +1603,8 @@ enum class InterfaceConfigType : uint8_t {
   UNIX_SOCKET_TYPE = 7,
 
   /**
-   * Configure all settings for the specified interface/transport type.
+   * Configure all settings for the specified interface/transport type in a
+   * single operation.
    *
    * Payload format depends on the @ref TransportType%:
    * - @ref TransportType::SERIAL - @ref SerialConfig

From bb6ac2c84ce3c839c4d9dde534d29cbe286d56f9 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 11:46:47 -0400
Subject: [PATCH 05/13] Fixed Python encoding for TransportDirection and
 SocketType values.

---
 python/fusion_engine_client/messages/configuration.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/fusion_engine_client/messages/configuration.py b/python/fusion_engine_client/messages/configuration.py
index 94541dea2..d782732b5 100644
--- a/python/fusion_engine_client/messages/configuration.py
+++ b/python/fusion_engine_client/messages/configuration.py
@@ -275,7 +275,7 @@ def get_message_type_string(protocol: ProtocolType, message_id: int):
 def _define_enum_config_classes(enum_type, construct_type=Int8ul):
     class EnumVal(NamedTuple):
         value: enum_type = list(enum_type)[0]
-    construct = AutoEnum(construct_type, enum_type)
+    construct = Struct("value" / AutoEnum(construct_type, enum_type))
     return EnumVal, construct
 
 

From bbf4ab5584aba8130e105f660752bd5559754c3f Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 11:47:41 -0400
Subject: [PATCH 06/13] Added example sending TCP transport direction SetConfig
 request in Python.

---
 python/examples/send_command.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/python/examples/send_command.py b/python/examples/send_command.py
index c97f6f26f..e31fff795 100755
--- a/python/examples/send_command.py
+++ b/python/examples/send_command.py
@@ -68,6 +68,8 @@
     #                          protocol=ProtocolType.FUSION_ENGINE,
     #                          message_id=MessageType.POSE,
     #                          rate=MessageRate.ON_CHANGE)
+    # message = SetConfigMessage(InterfaceDirectionConfig(TransportDirection.SERVER),
+    #                            interface=InterfaceID(TransportType.TCP, 0))
     # message = FaultControlMessage(payload=FaultControlMessage.EnableGNSS(False))
 
     # Connect to the device.

From 407b9a4ccbc51861bb696d6f51a2648ac6b58b4f Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 11:48:19 -0400
Subject: [PATCH 07/13] Allow interface config mappings for specific transport
 types.

---
 .../messages/configuration.py                 | 46 +++++++++++--------
 1 file changed, 27 insertions(+), 19 deletions(-)

diff --git a/python/fusion_engine_client/messages/configuration.py b/python/fusion_engine_client/messages/configuration.py
index d782732b5..2ef8ff3f0 100644
--- a/python/fusion_engine_client/messages/configuration.py
+++ b/python/fusion_engine_client/messages/configuration.py
@@ -170,6 +170,19 @@ class TransportType(IntEnum):
     ALL = 255
 
 
+class InterfaceID(NamedTuple):
+    type: TransportType = TransportType.INVALID
+    index: int = 0
+
+
+_InterfaceIDConstructRaw = Struct(
+    "type" / AutoEnum(Int8ul, TransportType),
+    "index" / Int8ul,
+    Padding(2)
+)
+_InterfaceIDConstruct = NamedTupleAdapter(InterfaceID, _InterfaceIDConstructRaw)
+
+
 class TransportDirection(IntEnum):
     INVALID = 0
     SERVER = 1
@@ -355,7 +368,7 @@ def GetType(cls) -> ConfigType:
             return InnerClass
         return inner
 
-    def create_interface_config_class(self, config_subtype, construct_class):
+    def create_interface_config_class(self, config_subtype, construct_class, transport_type: TransportType = None):
         """!
         @brief Decorator for generating InterfaceConfigClass children.
 
@@ -370,11 +383,19 @@ def GetSubtype(cls) -> InterfaceConfigType:
             InnerClass.__name__ = config_class.__name__
 
             # Register the construct with the MessageType.
-            self.INTERFACE_CONFIG_MAP[config_subtype] = NamedTupleAdapter(InnerClass, construct_class)
+            self.INTERFACE_CONFIG_MAP[(transport_type, config_subtype)] = NamedTupleAdapter(InnerClass, construct_class)
 
             return InnerClass
         return inner
 
+    def find_interface_config_construct(self, interface: InterfaceID, config_subtype: InterfaceConfigType):
+        construct_obj = _conf_gen.INTERFACE_CONFIG_MAP.get((interface.type, config_subtype), None)
+        if construct_obj is None:
+            construct_obj = _conf_gen.INTERFACE_CONFIG_MAP.get((None, config_subtype), None)
+            if construct_obj is None:
+                raise KeyError(f'No interface config mapping found for {interface}, config type {config_subtype}.')
+        return construct_obj
+
     class Point3F(NamedTuple):
         """!
         @brief 3D coordinate specifier, stored as 32-bit float values.
@@ -992,19 +1013,6 @@ class InvalidConfig(_conf_gen.Empty):
     pass
 
 
-class InterfaceID(NamedTuple):
-    type: TransportType = TransportType.INVALID
-    index: int = 0
-
-
-_InterfaceIDConstructRaw = Struct(
-    "type" / AutoEnum(Int8ul, TransportType),
-    "index" / Int8ul,
-    Padding(2)
-)
-_InterfaceIDConstruct = NamedTupleAdapter(InterfaceID, _InterfaceIDConstructRaw)
-
-
 class InterfaceConfigSubmessage(NamedTuple):
     interface: InterfaceID = InterfaceID()
     subtype: InterfaceConfigType = InterfaceConfigType.INVALID
@@ -1093,7 +1101,7 @@ def pack(self, buffer: Optional[bytes] = None, offset: int = 0, return_buffer: b
 
         if submessage:
             data = _InterfaceConfigSubmessageConstruct.build(submessage)
-            construct_obj = _conf_gen.INTERFACE_CONFIG_MAP[submessage.subtype]
+            construct_obj = _conf_gen.find_interface_config_construct(self.interface, submessage.subtype)
         else:
             data = bytes()
             construct_obj = _conf_gen.CONFIG_MAP[config_type]
@@ -1120,7 +1128,7 @@ def unpack(self, buffer: bytes, offset: int = 0, message_version: int = MessageP
             interface_header = _InterfaceConfigSubmessageConstruct.parse(header_data)
             subtype = interface_header.subtype
             self.interface = interface_header.interface
-            construct_obj = _conf_gen.INTERFACE_CONFIG_MAP[subtype]
+            construct_obj = _conf_gen.find_interface_config_construct(self.interface, subtype)
         else:
             construct_obj = _conf_gen.CONFIG_MAP[parsed.config_type]
 
@@ -1351,7 +1359,7 @@ def pack(self, buffer: bytes = None, offset: int = 0, return_buffer: bool = True
 
         if submessage:
             data = _InterfaceConfigSubmessageConstruct.build(submessage)
-            construct_obj = _conf_gen.INTERFACE_CONFIG_MAP[submessage.subtype]
+            construct_obj = _conf_gen.find_interface_config_construct(self.interface, submessage.subtype)
         else:
             data = bytes()
             construct_obj = _conf_gen.CONFIG_MAP[config_type]
@@ -1381,7 +1389,7 @@ def unpack(self, buffer: bytes, offset: int = 0, message_version: int = MessageP
             interface_header = _InterfaceConfigSubmessageConstruct.parse(header_data)
             subtype = interface_header.subtype
             self.interface = interface_header.interface
-            construct_obj = _conf_gen.INTERFACE_CONFIG_MAP[subtype]
+            construct_obj = _conf_gen.find_interface_config_construct(self.interface, subtype)
         else:
             self.interface = None
             construct_obj = _conf_gen.CONFIG_MAP[parsed.config_type]

From 754ad24c596b315d63f7c93d68e2390d087f83e3 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 13:34:31 -0400
Subject: [PATCH 08/13] Fixed doxygen typo.

---
 src/point_one/fusion_engine/messages/configuration.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/point_one/fusion_engine/messages/configuration.h b/src/point_one/fusion_engine/messages/configuration.h
index 401e06ccd..f8e89719d 100644
--- a/src/point_one/fusion_engine/messages/configuration.h
+++ b/src/point_one/fusion_engine/messages/configuration.h
@@ -2235,7 +2235,7 @@ inline p1_ostream& operator<<(p1_ostream& stream, MessageRate val) {
 }
 
 /**
- * @param TCP client/server interface configuration parameters.
+ * @brief TCP client/server interface configuration parameters.
  * @ingroup io_interfaces
  */
 struct P1_ALIGNAS(4) TCPConfig {
@@ -2246,7 +2246,7 @@ struct P1_ALIGNAS(4) TCPConfig {
 };
 
 /**
- * @param UDP interface configuration parameters.
+ * @brief UDP interface configuration parameters.
  * @ingroup io_interfaces
  */
 struct P1_ALIGNAS(4) UDPConfig {
@@ -2257,7 +2257,7 @@ struct P1_ALIGNAS(4) UDPConfig {
 };
 
 /**
- * @param WebSocket client/server interface configuration parameters.
+ * @brief WebSocket client/server interface configuration parameters.
  * @ingroup io_interfaces
  */
 struct P1_ALIGNAS(4) WebsocketConfig {
@@ -2268,7 +2268,7 @@ struct P1_ALIGNAS(4) WebsocketConfig {
 };
 
 /**
- * @param UNIX domain socket client/server interface configuration parameters.
+ * @brief UNIX domain socket client/server interface configuration parameters.
  * @ingroup io_interfaces
  */
 struct P1_ALIGNAS(4) UNIXSocketConfig {
@@ -2280,7 +2280,7 @@ struct P1_ALIGNAS(4) UNIXSocketConfig {
 };
 
 /**
- * @param Serial port (UART) interface configuration parameters.
+ * @brief Serial port (UART) interface configuration parameters.
  * @ingroup io_interfaces
  */
 struct P1_ALIGNAS(4) SerialConfig {

From 469cc580cb0c879c8f30f0c29b436a6791cd93a7 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 13:34:41 -0400
Subject: [PATCH 09/13] Renamed serial device_path to path.

---
 src/point_one/fusion_engine/messages/configuration.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/point_one/fusion_engine/messages/configuration.h b/src/point_one/fusion_engine/messages/configuration.h
index f8e89719d..87c9e6aa6 100644
--- a/src/point_one/fusion_engine/messages/configuration.h
+++ b/src/point_one/fusion_engine/messages/configuration.h
@@ -2287,7 +2287,7 @@ struct P1_ALIGNAS(4) SerialConfig {
   uint8_t enabled = 1;
   uint8_t reserved[3] = {0};
   uint32_t baud_rate = 0;
-  char device_path[64] = {0};
+  char path[64] = {0};
 };
 
 /**

From bed95f1971f34c168518474d3b918599a9685af9 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 13:34:54 -0400
Subject: [PATCH 10/13] Added InterfaceConfigType::PATH alias.

---
 python/fusion_engine_client/messages/configuration.py |  1 +
 src/point_one/fusion_engine/messages/configuration.h  | 10 +++++++---
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/python/fusion_engine_client/messages/configuration.py b/python/fusion_engine_client/messages/configuration.py
index 2ef8ff3f0..d4772ddf9 100644
--- a/python/fusion_engine_client/messages/configuration.py
+++ b/python/fusion_engine_client/messages/configuration.py
@@ -53,6 +53,7 @@ class InterfaceConfigType(IntEnum):
   OUTPUT_DIAGNOSTICS_MESSAGES = 1
   BAUD_RATE = 2
   REMOTE_ADDRESS = 3
+  PATH = 3  # Alias for REMOTE_ADDRESS
   PORT = 4
   ENABLED = 5
   DIRECTION = 6
diff --git a/src/point_one/fusion_engine/messages/configuration.h b/src/point_one/fusion_engine/messages/configuration.h
index 87c9e6aa6..80abb1278 100644
--- a/src/point_one/fusion_engine/messages/configuration.h
+++ b/src/point_one/fusion_engine/messages/configuration.h
@@ -1545,12 +1545,14 @@ enum class InterfaceConfigType : uint8_t {
   BAUD_RATE = 2,
 
   /**
-   * Configure the network address for a client to connect to.
+   * Configure the network address for a client to connect to, or the path to a
+   * local file.
    *
-   * For UNIX domain sockets, this string represents the path to the local
-   * socket file.
+   * For UNIX domain sockets and serial ports, this string represents the path
+   * to the local socket or device file.
    *
    * Valid for:
+   * - @ref TransportType::SERIAL
    * - @ref TransportType::TCP
    * - @ref TransportType::UDP
    * - @ref TransportType::UNIX
@@ -1558,6 +1560,8 @@ enum class InterfaceConfigType : uint8_t {
    * Payload format: `char[64]` containing a NULL terminated string.
    */
   REMOTE_ADDRESS = 3,
+  /** Alias for `REMOTE_ADDRESS`. */
+  PATH = 3,
 
   /**
    * Configure the network port.

From 511ae8ad9c98243b21dc3164c7ec2622bd41b994 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 15:16:01 -0400
Subject: [PATCH 11/13] Allow interface argumetn for GetConfigMessage, similar
 to SetConfigMessage.

---
 python/fusion_engine_client/messages/configuration.py | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/python/fusion_engine_client/messages/configuration.py b/python/fusion_engine_client/messages/configuration.py
index d4772ddf9..239a72397 100644
--- a/python/fusion_engine_client/messages/configuration.py
+++ b/python/fusion_engine_client/messages/configuration.py
@@ -1187,7 +1187,9 @@ def __validate_interface_header(self):
 
     def __init__(self,
                  config_type: Union[ConfigType, _ConfigClassGenerator.ConfigClass] = ConfigType.INVALID,
-                 request_source: ConfigurationSource = ConfigurationSource.ACTIVE, interface_header: Optional[InterfaceConfigSubmessage]=None):
+                 request_source: ConfigurationSource = ConfigurationSource.ACTIVE,
+                 interface: Optional[InterfaceID] = None,
+                 interface_header: Optional[InterfaceConfigSubmessage] = None):
         self.request_source = request_source
 
         if isinstance(config_type, ConfigType):
@@ -1195,6 +1197,11 @@ def __init__(self,
         else:
             self.config_type = config_type.GetType()
 
+        if interface_header is None and interface is not None:
+            if issubclass(config_type, _ConfigClassGenerator.InterfaceConfigClass):
+                interface_header = InterfaceConfigSubmessage(interface=interface, subtype=config_type.GetSubtype())
+            else:
+                raise ValueError('Interface configuration subtype not specified. Cannot construct header.')
         self.interface_header = interface_header
 
         self.__validate_interface_header()

From 3067ff2b2a9903e86843548e3e37602dcfaf3ac3 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 15:15:04 -0400
Subject: [PATCH 12/13] Added Python descriptions for using set/get config
 messages.

---
 python/examples/send_command.py               |  4 +-
 .../messages/configuration.py                 | 64 ++++++++++++++++---
 2 files changed, 59 insertions(+), 9 deletions(-)

diff --git a/python/examples/send_command.py b/python/examples/send_command.py
index e31fff795..375051059 100755
--- a/python/examples/send_command.py
+++ b/python/examples/send_command.py
@@ -68,7 +68,9 @@
     #                          protocol=ProtocolType.FUSION_ENGINE,
     #                          message_id=MessageType.POSE,
     #                          rate=MessageRate.ON_CHANGE)
-    # message = SetConfigMessage(InterfaceDirectionConfig(TransportDirection.SERVER),
+    # message = SetConfigMessage(InterfaceDiagnosticMessagesEnabled(True),
+    #                            interface=InterfaceID(TransportType.TCP, 0))
+    # message = GetConfigMessage(InterfaceDiagnosticMessagesEnabled,
     #                            interface=InterfaceID(TransportType.TCP, 0))
     # message = FaultControlMessage(payload=FaultControlMessage.EnableGNSS(False))
 
diff --git a/python/fusion_engine_client/messages/configuration.py b/python/fusion_engine_client/messages/configuration.py
index 239a72397..ba93e1392 100644
--- a/python/fusion_engine_client/messages/configuration.py
+++ b/python/fusion_engine_client/messages/configuration.py
@@ -753,6 +753,35 @@ class Empty(NamedTuple):
 _conf_gen = _ConfigClassGenerator()
 
 
+########################################################################################################################
+# Device configuration settings (lever arms, orientation, wheel speed settings, etc.).
+#
+# The classes below may be passed to a SetConfigMessage or returned by a ConfigResponseMessage using the `config_object`
+# field. For example:
+# ```
+# SetConfigMessage(GNSSLeverArmConfig(0.4, 0.0, 1.2))
+# SetConfigMessage(EnabledGNSSSystemsConfig(SatelliteType.GPS, SatelliteType.GALILEO))
+#
+# GetConfigMessage(GNSSLeverArmConfig)
+# config_response.config_object.x == 0.4
+# ```
+#
+# Note that many of these configuration classes share common parameters, and their fields are defined by their specified
+# base classes. For example, `GNSSLeverArmConfig` inherits from `Point3F` and contains `x`, `y`, and `z` fields as
+# follows:
+# ```
+# class Point3F(NamedTuple):
+#     """!
+#     @brief 3D coordinate specifier, stored as 32-bit float values.
+#     """
+#     x: float = math.nan
+#     y: float = math.nan
+#     z: float = math.nan
+# class GNSSLeverArmConfig(_conf_gen.Point3F): ...
+# ```
+########################################################################################################################
+
+
 @_conf_gen.create_config_class(ConfigType.DEVICE_LEVER_ARM, _conf_gen.Point3FConstruct)
 class DeviceLeverArmConfig(_conf_gen.Point3F):
     """!
@@ -950,6 +979,33 @@ class HardwareTickConfig(_conf_gen.HardwareTickConfig):
     pass
 
 
+@_conf_gen.create_config_class(ConfigType.INVALID, _conf_gen.EmptyConstruct)
+class InvalidConfig(_conf_gen.Empty):
+    """!
+    @brief Placeholder for empty invalid configuration messages.
+    """
+    pass
+
+
+########################################################################################################################
+# Input/output interface controls.
+#
+# When configuring I/O interfaces, you must specify the desired interface:
+#
+# Examples:
+# ```
+# SetConfigMessage(
+#     InterfaceDiagnosticMessagesEnabled(True),
+#     interface=InterfaceID(TransportType.TCP, 0))
+#
+# GetConfigMessage(
+#     InterfaceDiagnosticMessagesEnabled,
+#     interface=InterfaceID(TransportType.TCP, 0))
+# config_response.config_object.value == True
+# ```
+########################################################################################################################
+
+
 @_conf_gen.create_interface_config_class(InterfaceConfigType.BAUD_RATE, _conf_gen.UInt32Construct)
 class InterfaceBaudRateConfig(_conf_gen.IntegerVal):
     """!
@@ -1006,14 +1062,6 @@ class InterfaceDiagnosticMessagesEnabled(_conf_gen.BoolVal):
     pass
 
 
-@_conf_gen.create_config_class(ConfigType.INVALID, _conf_gen.EmptyConstruct)
-class InvalidConfig(_conf_gen.Empty):
-    """!
-    @brief Placeholder for empty invalid configuration messages.
-    """
-    pass
-
-
 class InterfaceConfigSubmessage(NamedTuple):
     interface: InterfaceID = InterfaceID()
     subtype: InterfaceConfigType = InterfaceConfigType.INVALID

From c08304b15d980894698f1ce6554b34c76ce2fdd4 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 25 Jun 2024 15:16:36 -0400
Subject: [PATCH 13/13] Added Python InterfaceConfigType.ALL_PARAMETERS
 support.

---
 python/examples/send_command.py               |   3 +
 .../messages/configuration.py                 | 103 ++++++++++++++++++
 2 files changed, 106 insertions(+)

diff --git a/python/examples/send_command.py b/python/examples/send_command.py
index 375051059..ef7a57873 100755
--- a/python/examples/send_command.py
+++ b/python/examples/send_command.py
@@ -72,6 +72,9 @@
     #                            interface=InterfaceID(TransportType.TCP, 0))
     # message = GetConfigMessage(InterfaceDiagnosticMessagesEnabled,
     #                            interface=InterfaceID(TransportType.TCP, 0))
+    # message = SetConfigMessage(
+    #     TCPConfig(direction=TransportDirection.CLIENT, remote_address='remote-hostname', port=1234),
+    #     interface=InterfaceID(TransportType.TCP, 1))
     # message = FaultControlMessage(payload=FaultControlMessage.EnableGNSS(False))
 
     # Connect to the device.
diff --git a/python/fusion_engine_client/messages/configuration.py b/python/fusion_engine_client/messages/configuration.py
index ba93e1392..4c9222504 100644
--- a/python/fusion_engine_client/messages/configuration.py
+++ b/python/fusion_engine_client/messages/configuration.py
@@ -58,6 +58,7 @@ class InterfaceConfigType(IntEnum):
   ENABLED = 5
   DIRECTION = 6
   SOCKET_TYPE = 7
+  ALL_PARAMETERS = 8
 
 
 class Direction(IntEnum):
@@ -997,6 +998,9 @@ class InvalidConfig(_conf_gen.Empty):
 # SetConfigMessage(
 #     InterfaceDiagnosticMessagesEnabled(True),
 #     interface=InterfaceID(TransportType.TCP, 0))
+# SetConfigMessage(
+#     TCPConfig(direction=TransportDirection.CLIENT, remote_address='remote-hostname', port=1234),
+#     interface=InterfaceID(TransportType.TCP, 1))
 #
 # GetConfigMessage(
 #     InterfaceDiagnosticMessagesEnabled,
@@ -1062,6 +1066,105 @@ class InterfaceDiagnosticMessagesEnabled(_conf_gen.BoolVal):
     pass
 
 
+_TCPConfigConstruct = Struct(
+    "enabled" / Flag,
+    "direction" / AutoEnum(Int8ul, TransportDirection),
+    "port"/ Int16ul,
+    "remote_address" / PaddedString(64, 'utf8'),
+)
+
+
+@_conf_gen.create_interface_config_class(InterfaceConfigType.ALL_PARAMETERS, _TCPConfigConstruct,
+                                         transport_type=TransportType.TCP)
+class TCPConfig(NamedTuple):
+    """!
+    @brief TCP client/server configuration settings.
+    """
+    enabled: bool = True
+    direction: TransportDirection = TransportDirection.SERVER
+    port: int = 0
+    remote_address: str = ''
+
+
+_UDPConfigConstruct = Struct(
+    "enabled" / Flag,
+    Padding(1),
+    "port"/ Int16ul,
+    "remote_address" / PaddedString(64, 'utf8'),
+)
+
+
+@_conf_gen.create_interface_config_class(InterfaceConfigType.ALL_PARAMETERS, _UDPConfigConstruct,
+                                         transport_type=TransportType.UDP)
+class UDPConfig(NamedTuple):
+    """!
+    @brief UDP interface configuration settings.
+    """
+    enabled: bool = True
+    port: int = 0
+    remote_address: str = ''
+
+
+_WebsocketConfigConstruct = Struct(
+    "enabled" / Flag,
+    "direction" / AutoEnum(Int8ul, TransportDirection),
+    "port"/ Int16ul,
+    "remote_address" / PaddedString(64, 'utf8'),
+)
+
+
+@_conf_gen.create_interface_config_class(InterfaceConfigType.ALL_PARAMETERS, _WebsocketConfigConstruct,
+                                         transport_type=TransportType.WEBSOCKET)
+class WebsocketConfig(NamedTuple):
+    """!
+    @brief WebSocket client/server configuration settings.
+    """
+    enabled: bool = True
+    direction: TransportDirection = TransportDirection.SERVER
+    port: int = 0
+    remote_address: str = ''
+
+
+_UNIXSocketConfigConstruct = Struct(
+    "enabled" / Flag,
+    "direction" / AutoEnum(Int8ul, TransportDirection),
+    "socket_type" / AutoEnum(Int8ul, SocketType),
+    Padding(1),
+    "path" / PaddedString(64, 'utf8'),
+)
+
+
+@_conf_gen.create_interface_config_class(InterfaceConfigType.ALL_PARAMETERS, _UNIXSocketConfigConstruct,
+                                         transport_type=TransportType.UNIX)
+class UNIXSocketConfig(NamedTuple):
+    """!
+    @brief UNIX domain socket client/server configuration settings.
+    """
+    enabled: bool = True
+    direction: TransportDirection = TransportDirection.SERVER
+    socket_type: SocketType = SocketType.STREAM
+    path: str = ''
+
+
+_SerialConfigConstruct = Struct(
+    "enabled" / Flag,
+    Padding(3),
+    "baud_rate" / Int32ul,
+    "path" / PaddedString(64, 'utf8'),
+)
+
+
+@_conf_gen.create_interface_config_class(InterfaceConfigType.ALL_PARAMETERS, _SerialConfigConstruct,
+                                         transport_type=TransportType.SERIAL)
+class SerialConfig(NamedTuple):
+    """!
+    @brief Serial port (UART) configuration settings.
+    """
+    enabled: bool = True
+    baud_rate: int = 0
+    path: str = ''
+
+
 class InterfaceConfigSubmessage(NamedTuple):
     interface: InterfaceID = InterfaceID()
     subtype: InterfaceConfigType = InterfaceConfigType.INVALID