Detailed Description

Implementation of the IMC API.

IMC messages.

Classes
class	AddressResolver

class	Blob

struct	BackLogEntry

class	Bus

class	EntityState

class	QueryEntityState

class	EntityInfo

class	QueryEntityInfo

class	EntityList

class	CpuUsage

class	TransportBindings

class	RestartSystem

class	DevCalibrationControl

class	DevCalibrationState

class	EntityActivationState

class	QueryEntityActivationState

class	VehicleOperationalLimits

class	MsgList

class	SimulatedState

class	LeakSimulation

class	UASimulation

class	DynamicsSimParam

class	StorageUsage

class	CacheControl

class	LoggingControl

class	LogBookEntry

class	LogBookControl

class	ReplayControl

class	ClockControl

class	HistoricCTD

class	HistoricTelemetry

class	HistoricSonarData

class	HistoricEvent

class	ProfileSample

class	VerticalProfile

class	Heartbeat

class	Announce

class	AnnounceService

class	RSSI

class	VSWR

class	LinkLevel

class	Sms

class	SmsTx

class	SmsRx

class	SmsState

class	TextMessage

class	IridiumMsgRx

class	IridiumMsgTx

class	IridiumTxStatus

class	GroupMembershipState

class	SystemGroup

class	LinkLatency

class	ExtendedRSSI

class	HistoricData

class	CompressedHistory

class	HistoricSample

class	HistoricDataQuery

class	RemoteCommand

class	CommSystemsQuery

class	TelemetryMsg

class	LblRange

class	LblBeacon

class	LblConfig

class	AcousticMessage

class	AcousticOperation

class	AcousticSystemsQuery

class	AcousticSystems

class	AcousticLink

class	Rpm

class	Voltage

class	Current

class	GpsFix

class	EulerAngles

class	EulerAnglesDelta

class	AngularVelocity

class	Acceleration

class	MagneticField

class	GroundVelocity

class	WaterVelocity

class	VelocityDelta

class	DeviceState

class	BeamConfig

class	Distance

class	Temperature

class	Pressure

class	Depth

class	DepthOffset

class	SoundSpeed

class	WaterDensity

class	Conductivity

class	Salinity

class	WindSpeed

class	RelativeHumidity

class	DevDataText

class	DevDataBinary

class	Force

class	SonarData

class	Pulse

class	PulseDetectionControl

class	FuelLevel

class	GpsNavData

class	ServoPosition

class	DataSanity

class	RhodamineDye

class	CrudeOil

class	FineOil

class	Turbidity

class	Chlorophyll

class	Fluorescein

class	Phycocyanin

class	Phycoerythrin

class	GpsFixRtk

class	EstimatedState

class	ExternalNavData

class	DissolvedOxygen

class	AirSaturation

class	Throttle

class	PH

class	Redox

class	CameraZoom

class	SetThrusterActuation

class	SetServoPosition

class	SetControlSurfaceDeflection

class	RemoteActionsRequest

class	RemoteActions

class	ButtonEvent

class	LcdControl

class	PowerOperation

class	PowerChannelControl

class	QueryPowerChannelState

class	PowerChannelState

class	LedBrightness

class	QueryLedBrightness

class	SetLedBrightness

class	SetPWM

class	PWM

class	EstimatedStreamVelocity

class	IndicatedSpeed

class	TrueSpeed

class	NavigationUncertainty

class	NavigationData

class	GpsFixRejection

class	LblRangeAcceptance

class	DvlRejection

class	LblEstimate

class	AlignmentState

class	GroupStreamVelocity

class	Airflow

class	DesiredHeading

class	DesiredZ

class	DesiredSpeed

class	DesiredRoll

class	DesiredPitch

class	DesiredVerticalRate

class	DesiredPath

class	DesiredControl

class	DesiredHeadingRate

class	DesiredVelocity

class	PathControlState

class	AllocatedControlTorques

class	ControlParcel

class	Brake

class	DesiredLinearState

class	DesiredThrottle

class	Goto

class	PopUp

class	Teleoperation

class	Loiter

class	IdleManeuver

class	LowLevelControl

class	Rows

class	PathPoint

class	FollowPath

class	YoYo

class	TeleoperationDone

class	StationKeeping

class	Elevator

class	TrajectoryPoint

class	FollowTrajectory

class	CustomManeuver

class	VehicleFormationParticipant

class	VehicleFormation

class	StopManeuver

class	RegisterManeuver

class	ManeuverControlState

class	FollowSystem

class	CommsRelay

class	PolygonVertex

class	CoverArea

class	CompassCalibration

class	FormationParameters

class	FormationPlanExecution

class	FollowReference

class	Reference

class	FollowRefState

class	RelativeState

class	FormationMonitor

class	Dislodge

class	Formation

class	Launch

class	Drop

class	ScheduledGoto

class	RowsCoverage

class	Sample

class	ImageTracking

class	Takeoff

class	Land

class	AutonomousSection

class	FollowPoint

class	Alignment

class	StationKeepingExtended

class	VehicleState

class	VehicleCommand

class	MonitorEntityState

class	EntityMonitoringState

class	OperationalLimits

class	GetOperationalLimits

class	Calibration

class	ControlLoops

class	VehicleMedium

class	Collision

class	FormState

class	AutopilotMode

class	FormationState

class	ReportControl

class	StateReport

class	TransmissionRequest

class	TransmissionStatus

class	SmsRequest

class	SmsStatus

class	VtolState

class	ArmingState

class	Abort

class	PlanVariable

class	PlanManeuver

class	PlanTransition

class	PlanSpecification

class	EmergencyControl

class	EmergencyControlState

class	PlanDB

class	PlanDBInformation

class	PlanDBState

class	PlanControl

class	PlanControlState

class	PlanGeneration

class	LeaderState

class	PlanStatistics

class	ReportedState

class	RemoteSensorInfo

class	MapPoint

class	MapFeature

class	Map

class	CcuEvent

class	VehicleLinks

class	TrexObservation

class	TrexCommand

class	TrexAttribute

class	TrexToken

class	TrexOperation

class	TrexPlan

class	Event

class	CompressedImage

class	ImageTxSettings

class	RemoteState

class	Target

class	EntityParameter

class	EntityParameters

class	QueryEntityParameters

class	SetEntityParameters

class	SaveEntityParameters

class	CreateSession

class	CloseSession

class	SessionSubscription

class	SessionKeepAlive

class	SessionStatus

class	PushEntityParameters

class	PopEntityParameters

class	IoEvent

class	UamTxFrame

class	UamRxFrame

class	UamTxStatus

class	UamRxRange

class	FormCtrlParam

class	FormationEval

class	FormationControlParams

class	FormationEvaluation

class	SoiWaypoint

class	SoiPlan

class	SoiCommand

class	SoiState

class	MessagePart

class	NeptusBlob

class	Aborted

class	UsblAngles

class	UsblPosition

class	UsblFix

class	ParametersXml

class	GetParametersXml

class	SetImageCoords

class	GetImageCoords

class	GetWorldCoordinates

class	UsblAnglesExtended

class	UsblPositionExtended

class	UsblFixExtended

class	UsblModem

class	UsblConfig

class	DissolvedOrganicMatter

class	OpticalBackscatter

class	Tachograph

class	ApmStatus

class	SadcReadings

class	DmsDetection

class	InvalidSync

class	InvalidMessageId

class	InvalidMessageAbbrev

class	UnsupportedFormat

class	UnknownStandard

class	InvalidCrc

class	BufferTooShort

class	InternalBufferTooShort

class	InvalidFormat

class	InvalidMessageSize

class	Factory

struct	Header

class	InlineMessage

struct	DevicePosition

class	IridiumMessage

class	ImcIridiumMessage

class	DeviceUpdate

class	ExtendedDeviceUpdate

class	ActivateSpotSubscription

class	DeactivateSpotSubscription

class	IridiumCommand

class	Message

class	MessageList

class	Packet

class	Parser

class	Maneuver

class	ControlCommand

class	RemoteData

Typedefs
typedef Message (	Creator )(void)

Enumerations
enum	CLoopsMask { CL_NONE, CL_PATH, CL_TELEOPERATION, CL_ALTITUDE, CL_DEPTH, CL_ROLL, CL_PITCH, CL_YAW, CL_SPEED, CL_YAW_RATE, CL_VERTICAL_RATE, CL_TORQUE, CL_FORCE, CL_VELOCITY, CL_THROTTLE, CL_EXTERNAL, CL_NO_OVERRIDE, CL_ALL }

enum	OpLimitsMask { OPL_MAX_DEPTH, OPL_MIN_ALT, OPL_MAX_ALT, OPL_MIN_SPEED, OPL_MAX_SPEED, OPL_MAX_VRATE, OPL_AREA }

enum	Boolean { BOOL_FALSE, BOOL_TRUE }

enum	ControlledMode { CTLMD_RELINQUISH_HANDOFF_CTL, CTLMD_REQUEST_CTL, CTLMD_OVERRIDE_CTL }

enum	SpeedUnits { SUNITS_METERS_PS, SUNITS_RPM, SUNITS_PERCENTAGE }

enum	SystemType { SYSTEMTYPE_CCU, SYSTEMTYPE_HUMANSENSOR, SYSTEMTYPE_UUV, SYSTEMTYPE_USV, SYSTEMTYPE_UAV, SYSTEMTYPE_UGV, SYSTEMTYPE_STATICSENSOR, SYSTEMTYPE_MOBILESENSOR, SYSTEMTYPE_WSN }

enum	ZUnits { Z_NONE, Z_DEPTH, Z_ALTITUDE, Z_HEIGHT }

enum	RSSIUnits { RSSIUNITS_dB, RSSIUNITS_PERCENTAGE }

enum	UAVType { UAVTYPE_FIXEDWING, UAVTYPE_COPTER, UAVTYPE_VTOL }

Functions
	DUNE_DECLARE_STATIC_MAP (creators_by_id, int, Creator, creator_pairs_id)

	DUNE_DECLARE_STATIC_MAP (map_id_abbrev, uint32_t, std::string, pairs_id_abbrev)

	DUNE_DECLARE_STATIC_MAP (map_abbrev_id, std::string, uint32_t, pairs_abbrev_id)

const char *	indentJSON (unsigned count)

template<typename Type >
void	toJSON (std::ostream &os, const char *label, const Type &value, unsigned nindent, char prefix= ',')

template<>
void	toJSON (std::ostream &os, const char *label, const int8_t &value, unsigned nindent, char prefix)

template<>
void	toJSON (std::ostream &os, const char *label, const uint8_t &value, unsigned nindent, char prefix)

template<>
void	toJSON (std::ostream &os, const char *label, const std::string &value, unsigned nindent, char prefix)

template<>
void	toJSON (std::ostream &os, const char *label, const std::vector< char > &value, unsigned nindent, char prefix)

uint16_t	serialize (const std::string &t, uint8_t *bfr)

uint16_t	deserialize (std::string &t, const uint8_t *bfr, uint16_t &length)

uint16_t	reverseDeserialize (std::string &t, const uint8_t *bfr, uint16_t &bfr_len)

uint16_t	serialize (const std::vector< char > &t, uint8_t *bfr)

uint16_t	deserialize (std::vector< char > &t, const uint8_t *bfr, uint16_t &length)

uint16_t	reverseDeserialize (std::vector< char > &t, const uint8_t *bfr, uint16_t &bfr_len)

unsigned	getSerializationSize (const std::string &variable)

unsigned	getSerializationSize (const std::vector< char > &variable)

template<typename Type >
uint16_t	serialize (const Type t, uint8_t *bfr)

uint16_t	serialize (const fp64_t t, uint8_t *bfr)

template<typename Type >
uint16_t	deserialize (Type &t, const uint8_t *bfr, uint16_t &length)

template<typename Type >
uint16_t	reverseDeserialize (Type &t, const uint8_t *bfr, uint16_t &length)

Variables
class DUNE_DLL_SYM	AddressResolver

class DUNE_DLL_SYM	Bus

class DUNE_DLL_SYM	Factory

class DUNE_DLL_SYM	Message

class DUNE_DLL_SYM	Packet

class DUNE_DLL_SYM	Parser

Typedef Documentation

typedef Message*(* DUNE::IMC::Creator)(void)

Enumeration Type Documentation

enum DUNE::IMC::Boolean

Boolean Value.

Enumerator
BOOL_FALSE	False.
BOOL_TRUE	True.

enum DUNE::IMC::CLoopsMask

Control Loops Mask.

Enumerator
CL_NONE	None.
CL_PATH	Path Control.
CL_TELEOPERATION	Teleoperation Control.
CL_ALTITUDE	Altitude Control.
CL_DEPTH	Depth Control.
CL_ROLL	Roll Control.
CL_PITCH	Pitch Control.
CL_YAW	Yaw Control.
CL_SPEED	Speed Control.
CL_YAW_RATE	Yaw Rate Control.
CL_VERTICAL_RATE	Vertical Rate Control.
CL_TORQUE	Torque Control.
CL_FORCE	Force Control.
CL_VELOCITY	Velocity Control.
CL_THROTTLE	Throttle Control.
CL_EXTERNAL	Unspecified External Control.
CL_NO_OVERRIDE	Non-overridable control.
CL_ALL	All.

enum DUNE::IMC::ControlledMode

Controlled Mode.

Enumerator
CTLMD_RELINQUISH_HANDOFF_CTL	Relinquish / Handoff Control.
CTLMD_REQUEST_CTL	Request Control.
CTLMD_OVERRIDE_CTL	Override Control.

enum DUNE::IMC::OpLimitsMask

Operational Limits Mask.

Enumerator
OPL_MAX_DEPTH	Maximum Depth.
OPL_MIN_ALT	Minimum Altitude.
OPL_MAX_ALT	Maximum Altitude.
OPL_MIN_SPEED	Minimum Speed.
OPL_MAX_SPEED	Maximum Speed.
OPL_MAX_VRATE	Maximum Vertical Rate.
OPL_AREA	Operation Area.

enum DUNE::IMC::RSSIUnits

RSSI Units.

Enumerator
RSSIUNITS_dB	Decibel.
RSSIUNITS_PERCENTAGE	Percentage.

enum DUNE::IMC::SpeedUnits

Speed Units.

Enumerator
SUNITS_METERS_PS	Meters per second.
SUNITS_RPM	RPM.
SUNITS_PERCENTAGE	Percentage.

enum DUNE::IMC::SystemType

System Type.

Enumerator
SYSTEMTYPE_CCU	CCU.
SYSTEMTYPE_HUMANSENSOR	Human-portable Sensor.
SYSTEMTYPE_UUV	UUV.
SYSTEMTYPE_USV	USV.
SYSTEMTYPE_UAV	UAV.
SYSTEMTYPE_UGV	UGV.
SYSTEMTYPE_STATICSENSOR	Static sensor.
SYSTEMTYPE_MOBILESENSOR	Mobile sensor.
SYSTEMTYPE_WSN	Wireless Sensor Network.

enum DUNE::IMC::UAVType

UAV Type.

Enumerator
UAVTYPE_FIXEDWING	Fixed-Wing.
UAVTYPE_COPTER	Copter.
UAVTYPE_VTOL	Vtol.

enum DUNE::IMC::ZUnits

Z Units.

Enumerator
Z_NONE	None.
Z_DEPTH	Depth.
Z_ALTITUDE	Altitude.
Z_HEIGHT	Height.

Function Documentation

uint16_t DUNE::IMC::deserialize	(	std::string &	t,
		const uint8_t *	bfr,
		uint16_t &	length
	)

Deserializator for string objects.

Parameters

t	string object where to place the deserialized bytes.
bfr	buffer where to read the serialized bytes.
length	amount of bytes available to deserialize.

Returns: number of deserialized bytes.

Exceptions

BufferTooShort

uint16_t DUNE::IMC::deserialize	(	std::vector< char > &	t,
		const uint8_t *	bfr,
		uint16_t &	length
	)

Deserializator for string objects.

Parameters

t	string object where to place the deserialized bytes.
bfr	buffer where to read the serialized bytes.
length	amount of bytes available to deserialize.

Returns: number of deserialized bytes.

Exceptions

BufferTooShort

template<typename Type >

uint16_t DUNE::IMC::deserialize	(	Type &	t,
		const uint8_t *	bfr,
		uint16_t &	length
	)

inline

Deserializator for scalar types.

Parameters

t	scalar where to place the unserialized bytes.
bfr	buffer where to read the serialized bytes.
length	amount of bytes available to unserialize.

Returns: number of serialized bytes.

Exceptions

BufferTooShort

DUNE::IMC::DUNE_DECLARE_STATIC_MAP	(	creators_by_id	,
		int	,
		Creator	,
		creator_pairs_id
	)

DUNE::IMC::DUNE_DECLARE_STATIC_MAP	(	map_id_abbrev	,
		uint32_t	,
		std::string	,
		pairs_id_abbrev
	)

DUNE::IMC::DUNE_DECLARE_STATIC_MAP	(	map_abbrev_id	,
		std::string	,
		uint32_t	,
		pairs_abbrev_id
	)

unsigned DUNE::IMC::getSerializationSize ( const std::string & variable )

inline

Retrieve the number of bytes required to serialize a variable of type 'plaintext'.

Parameters

[in] variable variable.

Returns: number of bytes required to serialize variable.

unsigned DUNE::IMC::getSerializationSize ( const std::vector< char > & variable )

inline

Retrieve the number of bytes required to serialize a variable of type 'rawdata'.

Parameters

[in] variable variable.

Returns: number of bytes required to serialize variable.

const char * DUNE::IMC::indentJSON ( unsigned count )

Return a string with a given number of white spaces.

Parameters

[in] count number of white spaces.

Returns: string with 'count' white spaces.

Referenced by toJSON(), DUNE::IMC::InlineMessage< DUNE::IMC::HistoricData >::toJSON(), and DUNE::IMC::MessageList< DUNE::IMC::VehicleFormationParticipant >::toJSON().

uint16_t DUNE::IMC::reverseDeserialize	(	std::string &	t,
		const uint8_t *	bfr,
		uint16_t &	bfr_len
	)

References DUNE::Utils::reverseCopy().

uint16_t DUNE::IMC::reverseDeserialize	(	std::vector< char > &	t,
		const uint8_t *	bfr,
		uint16_t &	bfr_len
	)

References DUNE::Utils::reverseCopy().

template<typename Type >

uint16_t DUNE::IMC::reverseDeserialize	(	Type &	t,
		const uint8_t *	bfr,
		uint16_t &	length
	)

inline

Deserialize a numeric field with a different byte.

Parameters

t	variable where to place the unserialized result.
bfr	buffer where to read the serialized bytes.
length	amount of bytes available to unserialize.

Returns: number of serialized bytes.

Exceptions

BufferTooShort

References DUNE::Utils::reverseCopy().

uint16_t DUNE::IMC::serialize	(	const std::string &	t,
		uint8_t *	bfr
	)

template<typename Type >

uint16_t DUNE::IMC::serialize	(	const Type	t,
		uint8_t *	bfr
	)

inline

Serializator for scalar types.

Parameters

t	scalar to serialize.
bfr	buffer where to place the serialized bytes.

Returns: number of serialized bytes.

uint16_t DUNE::IMC::serialize	(	const fp64_t	t,
		uint8_t *	bfr
	)

inline

Serializator for floating point (double precision).

Parameters

t	floating point value to serialize.
bfr	buffer where to place the serialized bytes.

Returns: number of serialized bytes.

uint16_t DUNE::IMC::serialize	(	const std::vector< char > &	t,
		uint8_t *	bfr
	)

template<typename Type >

void DUNE::IMC::toJSON	(	std::ostream &	os,
		const char *	label,
		const Type &	value,
		unsigned	nindent,
		char	prefix = `','`
	)

inline

Convert a generic type to a JSON string.

Parameters

[in]	os	output stream.
[in]	label	label.
[in]	value	value.
[in]	nindent	number of indentation spaces.
[in]	prefix	prefix character.

References indentJSON().

template<>

void DUNE::IMC::toJSON	(	std::ostream &	os,
		const char *	label,
		const int8_t &	value,
		unsigned	nindent,
		char	prefix
	)

inline

Convert an 8 bit signed integer type to a JSON string.

Parameters

[in]	os	output stream.
[in]	label	label.
[in]	value	value.
[in]	nindent	number of indentation spaces.
[in]	prefix	prefix character.

References indentJSON().

template<>

void DUNE::IMC::toJSON	(	std::ostream &	os,
		const char *	label,
		const uint8_t &	value,
		unsigned	nindent,
		char	prefix
	)

inline

Convert an 8 bit unsigned integer type to a JSON string.

Parameters

[in]	os	output stream.
[in]	label	label.
[in]	value	value.
[in]	nindent	number of indentation spaces.
[in]	prefix	prefix character.

References indentJSON().

template<>

void DUNE::IMC::toJSON	(	std::ostream &	os,
		const char *	label,
		const std::string &	value,
		unsigned	nindent,
		char	prefix
	)

inline

Convert a string to a JSON string.

Parameters

[in]	os	output stream.
[in]	label	label.
[in]	value	value.
[in]	nindent	number of indentation spaces.
[in]	prefix	prefix character.

References DUNE::Utils::String::escape(), indentJSON(), and DUNE::Utils::String::replace().

template<>

void DUNE::IMC::toJSON	(	std::ostream &	os,
		const char *	label,
		const std::vector< char > &	value,
		unsigned	nindent,
		char	prefix
	)

inline

Convert a character vector type to a JSON string.

Parameters

[in]	os	output stream.
[in]	label	label.
[in]	value	value.
[in]	nindent	number of indentation spaces.
[in]	prefix	prefix character.

References indentJSON(), and DUNE::Utils::String::toHex().

Variable Documentation

class DUNE_DLL_SYM DUNE::IMC::AddressResolver

class DUNE_DLL_SYM DUNE::IMC::Bus

class DUNE_DLL_SYM DUNE::IMC::Factory

class DUNE_DLL_SYM DUNE::IMC::Message

class DUNE_DLL_SYM DUNE::IMC::Packet

class DUNE_DLL_SYM DUNE::IMC::Parser

Detailed Description

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation