DUNE::IMC::Loiter Class Reference

Detailed Description

Loiter Maneuver.

Public Types
enum	LoiterTypeEnum {   LT_DEFAULT, LT_CIRCULAR, LT_RACETRACK, LT_EIGHT,   LT_HOVER }
enum	DirectionEnum { LD_VDEP, LD_CLOCKW, LD_CCLOCKW, LD_IWINDCURR }

Public Member Functions
	Loiter (void)
Loiter *	clone (void) const
void	clear (void)
bool	fieldsEqual (const Message &msg__) const
int	validate (void) const
uint8_t *	serializeFields (uint8_t *bfr__) const
uint16_t	deserializeFields (const uint8_t *bfr__, uint16_t size__)
uint16_t	reverseDeserializeFields (const uint8_t *bfr__, uint16_t size__)
uint16_t	getId (void) const
const char *	getName (void) const
unsigned	getFixedSerializationSize (void) const
unsigned	getVariableSerializationSize (void) const
void	fieldsToJSON (std::ostream &os__, unsigned nindent__) const
Public Member Functions inherited from DUNE::IMC::Message
	Message (void)
virtual	~Message (void)
double	setTimeStamp (double ts)
double	setTimeStamp (void)
double	getTimeStamp (void) const
uint16_t	getSource (void) const
void	setSource (uint16_t src)
uint8_t	getSourceEntity (void) const
void	setSourceEntity (uint8_t src_ent)
uint16_t	getDestination (void) const
void	setDestination (uint16_t dst)
uint8_t	getDestinationEntity (void) const
void	setDestinationEntity (uint8_t dst_ent)
virtual uint16_t	getSubId (void) const
virtual void	setSubId (uint16_t subid)
virtual fp64_t	getValueFP (void) const
virtual void	setValueFP (fp64_t val)
unsigned	getSerializationSize (void) const
unsigned	getPayloadSerializationSize (void) const
void	toJSON (std::ostream &os) const
void	toText (std::ostream &os) const
bool	operator== (const Message &other) const
bool	operator!= (const Message &other) const

Static Public Member Functions
static uint16_t	getIdStatic (void)

Public Attributes
uint16_t	timeout
fp64_t	lat
fp64_t	lon
fp32_t	z
uint8_t	z_units
uint16_t	duration
fp32_t	speed
uint8_t	speed_units
uint8_t	type
fp32_t	radius
fp32_t	length
fp64_t	bearing
uint8_t	direction
std::string	custom

Additional Inherited Members
Protected Member Functions inherited from DUNE::IMC::Message
virtual void	setTimeStampNested (double value)
virtual void	setSourceNested (uint16_t value)
virtual void	setSourceEntityNested (uint8_t value)
virtual void	setDestinationNested (uint16_t value)
virtual void	setDestinationEntityNested (uint8_t value)
Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Member Enumeration Documentation

enum DUNE::IMC::Loiter::DirectionEnum

Direction.

Enumerator
LD_VDEP	Vehicle Dependent.
LD_CLOCKW	Clockwise.
LD_CCLOCKW	Counter Clockwise.
LD_IWINDCURR	Into the wind/current.

enum DUNE::IMC::Loiter::LoiterTypeEnum

Loiter Type.

Enumerator
LT_DEFAULT	Default.
LT_CIRCULAR	Circular.
LT_RACETRACK	Race track.
LT_EIGHT	Figure 8.
LT_HOVER	Hover.

Constructor & Destructor Documentation

DUNE::IMC::Loiter::Loiter

(

void

)

References clear(), DUNE::IMC::Message::m_header, and DUNE::IMC::Header::mgid.

Referenced by clone().

Member Function Documentation

void DUNE::IMC::Loiter::clear ( void  )

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

References bearing, custom, direction, duration, lat, length, lon, radius, speed, speed_units, timeout, type, z, and z_units.

Referenced by Loiter().

Loiter* DUNE::IMC::Loiter::clone ( void  ) const

inlinevirtual

Retrieve a copy of the message.

Returns

message copy.

Implements DUNE::IMC::Message.

References Loiter().

uint16_t DUNE::IMC::Loiter::deserializeFields ( const uint8_t *  bfr, uint16_t  len  )

virtual

Deserialize message fields from a packet.

Parameters

bfr	stream of bytes (packet)
len	length of the byte stream.

Returns

number of bytes processed.

Implements DUNE::IMC::Message.

References bearing, custom, DUNE::IMC::deserialize(), direction, duration, lat, length, lon, radius, speed, speed_units, timeout, type, z, and z_units.

bool DUNE::IMC::Loiter::fieldsEqual ( const Message &  other ) const

virtual

Compare fields for equality.

Parameters

[in]

other

message to compare.

Returns

true if fields are equal, false otherwise.

Reimplemented from DUNE::IMC::Message.

References bearing, custom, direction, duration, lat, length, lon, radius, speed, speed_units, timeout, type, z, and z_units.

void DUNE::IMC::Loiter::fieldsToJSON ( std::ostream &  os, unsigned  indent_level  ) const

virtual

Output the message fields (excluding header) in JSON format.

Parameters

os	output stream.
indent_level	number of indentation spaces.

Reimplemented from DUNE::IMC::Message.

References bearing, custom, direction, duration, lat, length, lon, radius, speed, speed_units, timeout, DUNE::IMC::toJSON(), type, z, and z_units.

unsigned DUNE::IMC::Loiter::getFixedSerializationSize ( void  ) const

inlinevirtual

Get the fixed amount of bytes required to properly serialize this message (variable length fields are not included).

Returns

amount of variable bytes required to serialize the message.

Reimplemented from DUNE::IMC::Message.

uint16_t DUNE::IMC::Loiter::getId ( void  ) const

inlinevirtual

Retrieve message's identification number.

Returns

message's identification number.

Implements DUNE::IMC::Message.

References getIdStatic().

static uint16_t DUNE::IMC::Loiter::getIdStatic ( void  )

inlinestatic

Referenced by getId().

const char* DUNE::IMC::Loiter::getName ( void  ) const

inlinevirtual

Retrieve message's name.

Returns

message's name.

Implements DUNE::IMC::Message.

unsigned DUNE::IMC::Loiter::getVariableSerializationSize ( void  ) const

inlinevirtual

Get the variable amount of bytes required to properly serialize this message (only the variable fields are included).

Returns

amount of variable bytes required to serialize the message.

Reimplemented from DUNE::IMC::Message.

References custom, and DUNE::IMC::getSerializationSize().

uint16_t DUNE::IMC::Loiter::reverseDeserializeFields ( const uint8_t *  bfr, uint16_t  len  )

virtual

Deserialize message fields from a packet, swapping the byte order.

Parameters

bfr	stream of bytes (packet)
len	length of the byte stream.

Returns

number of bytes processed.

Implements DUNE::IMC::Message.

References bearing, custom, DUNE::IMC::deserialize(), direction, duration, lat, length, lon, radius, DUNE::IMC::reverseDeserialize(), speed, speed_units, timeout, type, z, and z_units.

uint8_t * DUNE::IMC::Loiter::serializeFields ( uint8_t *  bfr__ ) const

virtual

Implements DUNE::IMC::Message.

References bearing, custom, direction, duration, lat, length, lon, radius, DUNE::IMC::serialize(), speed, speed_units, timeout, type, z, and z_units.

int DUNE::IMC::Loiter::validate ( void  ) const

virtual

Validate the message's contents.

Returns

negative value in case of a valid message or a positive value indicating the position of the invalid message field.

Implements DUNE::IMC::Message.

References direction, and type.

Member Data Documentation

fp64_t DUNE::IMC::Loiter::bearing

Bearing.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::FigureEight::FigureEight(), DUNE::Parsers::PlanConfigParser::parse(), reverseDeserializeFields(), and serializeFields().

std::string DUNE::IMC::Loiter::custom

Custom settings for maneuver.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), getVariableSerializationSize(), reverseDeserializeFields(), and serializeFields().

uint8_t DUNE::IMC::Loiter::direction

Direction.

Referenced by DUNE::Maneuvers::Circular::Circular(), clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Parsers::PlanConfigParser::parse(), reverseDeserializeFields(), serializeFields(), and validate().

uint16_t DUNE::IMC::Loiter::duration

Duration.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp64_t DUNE::IMC::Loiter::lat

Latitude WGS-84.

Referenced by DUNE::Maneuvers::Circular::Circular(), clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::FigureEight::FigureEight(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::Loiter::length

Length.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::FigureEight::FigureEight(), DUNE::Parsers::PlanConfigParser::parse(), reverseDeserializeFields(), and serializeFields().

fp64_t DUNE::IMC::Loiter::lon

Longitude WGS-84.

Referenced by DUNE::Maneuvers::Circular::Circular(), clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::FigureEight::FigureEight(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::Loiter::radius

Radius.

Referenced by DUNE::Maneuvers::Circular::Circular(), clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::FigureEight::FigureEight(), DUNE::Parsers::PlanConfigParser::parse(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::Loiter::speed

Speed.

Referenced by DUNE::Maneuvers::Circular::Circular(), clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::FigureEight::FigureEight(), reverseDeserializeFields(), and serializeFields().

uint8_t DUNE::IMC::Loiter::speed_units

Speed Units.

Referenced by DUNE::Maneuvers::Circular::Circular(), clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::FigureEight::FigureEight(), reverseDeserializeFields(), and serializeFields().

uint16_t DUNE::IMC::Loiter::timeout

Timeout.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

uint8_t DUNE::IMC::Loiter::type

Loiter Type.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Parsers::PlanConfigParser::parse(), reverseDeserializeFields(), serializeFields(), and validate().

fp32_t DUNE::IMC::Loiter::z

Z Reference.

Referenced by DUNE::Maneuvers::Circular::Circular(), clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::FigureEight::FigureEight(), reverseDeserializeFields(), and serializeFields().

uint8_t DUNE::IMC::Loiter::z_units

Z Units.

Referenced by DUNE::Maneuvers::Circular::Circular(), clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::FigureEight::FigureEight(), reverseDeserializeFields(), and serializeFields().

Collaboration diagram for DUNE::IMC::Loiter: