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)

Message *	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().

Message* 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.

Member Data Documentation

fp64_t DUNE::IMC::Loiter::bearing

Bearing.

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

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

fp32_t DUNE::IMC::Loiter::length

Length.

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

fp64_t DUNE::IMC::Loiter::lon

Longitude WGS-84.

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

fp32_t DUNE::IMC::Loiter::radius

Radius.

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

fp32_t DUNE::IMC::Loiter::speed

Speed.

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

uint8_t DUNE::IMC::Loiter::speed_units

Speed Units.

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

fp32_t DUNE::IMC::Loiter::z

Z Reference.

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

uint8_t DUNE::IMC::Loiter::z_units

Z Units.

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

Collaboration diagram for DUNE::IMC::Loiter:

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation