Detailed Description

Basic IMC message.

Public Member Functions
	Message (void)

virtual	~Message (void)

virtual Message *	clone (void) const =0

virtual void	clear (void)=0

virtual int	validate (void) const =0

virtual const char *	getName (void) const =0

virtual uint16_t	getId (void) const =0

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

virtual unsigned	getFixedSerializationSize (void) const

virtual unsigned	getVariableSerializationSize (void) const

void	toJSON (std::ostream &os) const

void	toText (std::ostream &os) const

virtual uint8_t *	serializeFields (uint8_t *bfr) const =0

virtual uint16_t	deserializeFields (const uint8_t *bfr, uint16_t len)=0

virtual uint16_t	reverseDeserializeFields (const uint8_t *bfr, uint16_t len)=0

virtual void	fieldsToJSON (std::ostream &os, unsigned indent_level) const

bool	operator== (const Message &other) const

bool	operator!= (const Message &other) const

Protected Member Functions
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)

virtual bool	fieldsEqual (const Message &other) const

Protected Attributes
Header	m_header

Constructor & Destructor Documentation

DUNE::IMC::Message::Message ( void )

inline

Default constructor.

References DUNE::IMC::Header::dst, DUNE::IMC::Header::dst_ent, DUNE::IMC::AddressResolver::invalid(), m_header, DUNE::IMC::Header::src, DUNE::IMC::Header::src_ent, and DUNE::IMC::Header::timestamp.

virtual DUNE::IMC::Message::~Message ( void )

inlinevirtual

Default destructor.

Member Function Documentation

virtual void DUNE::IMC::Message::clear ( void )

pure virtual

Reset message's fields.

virtual Message* DUNE::IMC::Message::clone ( void ) const

pure virtual

Retrieve a copy of the message.

Returns: message copy.

Referenced by DUNE::Tasks::Recipient::put().

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

pure virtual

Deserialize message fields from a packet.

Parameters

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

Returns: number of bytes processed.

Referenced by DUNE::IMC::ImcIridiumMessage::deserialize(), and DUNE::IMC::Packet::deserializePayload().

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

inlineprotectedvirtual

Compare fields for equality.

Parameters

[in] other message to compare.

Returns: true if fields are equal, false otherwise.

Referenced by operator==().

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

inlinevirtual

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

Parameters

os	output stream.
indent_level	number of indentation spaces.

Referenced by toJSON().

uint16_t DUNE::IMC::Message::getDestination ( void ) const

inline

Retrieve message's destination.

Returns: message's destination.

References DUNE::IMC::Header::dst, and m_header.

Referenced by DUNE::Daemon::consume(), operator==(), DUNE::IMC::Packet::serializeHeader(), and toJSON().

uint8_t DUNE::IMC::Message::getDestinationEntity ( void ) const

inline

Get message's destination entity.

Returns: message's destination entity.

References DUNE::IMC::Header::dst_ent, and m_header.

Referenced by DUNE::Daemon::consume(), operator==(), DUNE::IMC::Packet::serializeHeader(), and toJSON().

virtual unsigned DUNE::IMC::Message::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 in DUNE::IMC::UsblFix, DUNE::IMC::UsblPosition, DUNE::IMC::UsblAngles, DUNE::IMC::Aborted, DUNE::IMC::NeptusBlob, DUNE::IMC::MessagePart, DUNE::IMC::FormationEval, DUNE::IMC::FormCtrlParam, DUNE::IMC::UamRxRange, DUNE::IMC::UamTxStatus, DUNE::IMC::UamRxFrame, DUNE::IMC::UamTxFrame, DUNE::IMC::IoEvent, DUNE::IMC::PopEntityParameters, DUNE::IMC::PushEntityParameters, DUNE::IMC::SessionStatus, DUNE::IMC::SessionKeepAlive, DUNE::IMC::SessionSubscription, DUNE::IMC::CloseSession, DUNE::IMC::CreateSession, DUNE::IMC::SaveEntityParameters, DUNE::IMC::SetEntityParameters, DUNE::IMC::QueryEntityParameters, DUNE::IMC::EntityParameters, DUNE::IMC::EntityParameter, DUNE::IMC::Target, DUNE::IMC::RemoteState, DUNE::IMC::ImageTxSettings, DUNE::IMC::CompressedImage, DUNE::IMC::Event, DUNE::IMC::TrexPlan, DUNE::IMC::TrexOperation, DUNE::IMC::TrexToken, DUNE::IMC::TrexAttribute, DUNE::IMC::TrexCommand, DUNE::IMC::TrexObservation, DUNE::IMC::VehicleLinks, DUNE::IMC::CcuEvent, DUNE::IMC::Map, DUNE::IMC::MapFeature, DUNE::IMC::MapPoint, DUNE::IMC::RemoteSensorInfo, DUNE::IMC::ReportedState, DUNE::IMC::PlanStatistics, DUNE::IMC::LeaderState, DUNE::IMC::PlanGeneration, DUNE::IMC::PlanControlState, DUNE::IMC::PlanControl, DUNE::IMC::PlanDBState, DUNE::IMC::PlanDBInformation, DUNE::IMC::PlanDB, DUNE::IMC::EmergencyControlState, DUNE::IMC::EmergencyControl, DUNE::IMC::PlanSpecification, DUNE::IMC::PlanTransition, DUNE::IMC::PlanManeuver, DUNE::IMC::PlanVariable, DUNE::IMC::Abort, DUNE::IMC::AutopilotMode, DUNE::IMC::FormState, DUNE::IMC::Collision, DUNE::IMC::VehicleMedium, DUNE::IMC::ControlLoops, DUNE::IMC::Calibration, DUNE::IMC::GetOperationalLimits, DUNE::IMC::OperationalLimits, DUNE::IMC::EntityMonitoringState, DUNE::IMC::MonitorEntityState, DUNE::IMC::VehicleCommand, DUNE::IMC::VehicleState, DUNE::IMC::Dislodge, DUNE::IMC::FormationMonitor, DUNE::IMC::RelativeState, DUNE::IMC::FollowRefState, DUNE::IMC::Reference, DUNE::IMC::FollowReference, DUNE::IMC::FormationPlanExecution, DUNE::IMC::FormationParameters, DUNE::IMC::CompassCalibration, DUNE::IMC::CoverArea, DUNE::IMC::PolygonVertex, DUNE::IMC::CommsRelay, DUNE::IMC::FollowSystem, DUNE::IMC::ManeuverControlState, DUNE::IMC::RegisterManeuver, DUNE::IMC::StopManeuver, DUNE::IMC::VehicleFormation, DUNE::IMC::VehicleFormationParticipant, DUNE::IMC::CustomManeuver, DUNE::IMC::FollowTrajectory, DUNE::IMC::TrajectoryPoint, DUNE::IMC::Elevator, DUNE::IMC::StationKeeping, DUNE::IMC::TeleoperationDone, DUNE::IMC::YoYo, DUNE::IMC::FollowPath, DUNE::IMC::PathPoint, DUNE::IMC::Rows, DUNE::IMC::LowLevelControl, DUNE::IMC::IdleManeuver, DUNE::IMC::Loiter, DUNE::IMC::Teleoperation, DUNE::IMC::PopUp, DUNE::IMC::Goto, DUNE::IMC::Brake, DUNE::IMC::ControlParcel, DUNE::IMC::AllocatedControlTorques, DUNE::IMC::PathControlState, DUNE::IMC::DesiredVelocity, DUNE::IMC::DesiredHeadingRate, DUNE::IMC::DesiredControl, DUNE::IMC::DesiredPath, DUNE::IMC::DesiredVerticalRate, DUNE::IMC::DesiredPitch, DUNE::IMC::DesiredRoll, DUNE::IMC::DesiredSpeed, DUNE::IMC::DesiredZ, DUNE::IMC::DesiredHeading, DUNE::IMC::GroupStreamVelocity, DUNE::IMC::AlignmentState, DUNE::IMC::LblEstimate, DUNE::IMC::DvlRejection, DUNE::IMC::LblRangeAcceptance, DUNE::IMC::GpsFixRejection, DUNE::IMC::NavigationData, DUNE::IMC::NavigationUncertainty, DUNE::IMC::TrueSpeed, DUNE::IMC::IndicatedSpeed, DUNE::IMC::EstimatedStreamVelocity, DUNE::IMC::EstimatedState, DUNE::IMC::PWM, DUNE::IMC::SetPWM, DUNE::IMC::SetLedBrightness, DUNE::IMC::QueryLedBrightness, DUNE::IMC::LedBrightness, DUNE::IMC::PowerChannelState, DUNE::IMC::QueryPowerChannelState, DUNE::IMC::PowerChannelControl, DUNE::IMC::PowerOperation, DUNE::IMC::LcdControl, DUNE::IMC::ButtonEvent, DUNE::IMC::RemoteActions, DUNE::IMC::RemoteActionsRequest, DUNE::IMC::SetControlSurfaceDeflection, DUNE::IMC::SetServoPosition, DUNE::IMC::SetThrusterActuation, DUNE::IMC::CameraZoom, DUNE::IMC::FineOil, DUNE::IMC::CrudeOil, DUNE::IMC::RhodamineDye, DUNE::IMC::DataSanity, DUNE::IMC::ServoPosition, DUNE::IMC::GpsNavData, DUNE::IMC::FuelLevel, DUNE::IMC::PulseDetectionControl, DUNE::IMC::Pulse, DUNE::IMC::SonarData, DUNE::IMC::DevDataBinary, DUNE::IMC::DevDataText, DUNE::IMC::RelativeHumidity, DUNE::IMC::WindSpeed, DUNE::IMC::Salinity, DUNE::IMC::Conductivity, DUNE::IMC::WaterDensity, DUNE::IMC::SoundSpeed, DUNE::IMC::DepthOffset, DUNE::IMC::Depth, DUNE::IMC::Pressure, DUNE::IMC::Temperature, DUNE::IMC::Distance, DUNE::IMC::BeamConfig, DUNE::IMC::DeviceState, DUNE::IMC::VelocityDelta, DUNE::IMC::WaterVelocity, DUNE::IMC::GroundVelocity, DUNE::IMC::MagneticField, DUNE::IMC::Acceleration, DUNE::IMC::AngularVelocity, DUNE::IMC::EulerAnglesDelta, DUNE::IMC::EulerAngles, DUNE::IMC::GpsFix, DUNE::IMC::Current, DUNE::IMC::Voltage, DUNE::IMC::Rpm, DUNE::IMC::AcousticSystems, DUNE::IMC::AcousticSystemsQuery, DUNE::IMC::AcousticOperation, DUNE::IMC::AcousticMessage, DUNE::IMC::LblConfig, DUNE::IMC::LblBeacon, DUNE::IMC::LblRange, DUNE::IMC::SystemGroup, DUNE::IMC::GroupMembershipState, DUNE::IMC::IridiumTxStatus, DUNE::IMC::IridiumMsgTx, DUNE::IMC::IridiumMsgRx, DUNE::IMC::TextMessage, DUNE::IMC::SmsState, DUNE::IMC::SmsRx, DUNE::IMC::SmsTx, DUNE::IMC::Sms, DUNE::IMC::LinkLevel, DUNE::IMC::VSWR, DUNE::IMC::RSSI, DUNE::IMC::AnnounceService, DUNE::IMC::Announce, DUNE::IMC::Heartbeat, DUNE::IMC::ClockControl, DUNE::IMC::ReplayControl, DUNE::IMC::LogBookControl, DUNE::IMC::LogBookEntry, DUNE::IMC::LoggingControl, DUNE::IMC::CacheControl, DUNE::IMC::StorageUsage, DUNE::IMC::DynamicsSimParam, DUNE::IMC::UASimulation, DUNE::IMC::LeakSimulation, DUNE::IMC::SimulatedState, DUNE::IMC::MsgList, DUNE::IMC::VehicleOperationalLimits, DUNE::IMC::QueryEntityActivationState, DUNE::IMC::EntityActivationState, DUNE::IMC::DevCalibrationState, DUNE::IMC::DevCalibrationControl, DUNE::IMC::RestartSystem, DUNE::IMC::TransportBindings, DUNE::IMC::CpuUsage, DUNE::IMC::EntityList, DUNE::IMC::QueryEntityInfo, DUNE::IMC::EntityInfo, DUNE::IMC::QueryEntityState, and DUNE::IMC::EntityState.

Referenced by getPayloadSerializationSize().

virtual uint16_t DUNE::IMC::Message::getId ( void ) const

pure virtual

Retrieve message's identification number.

Returns: message's identification number.

Referenced by DUNE::Plans::Progress::compute(), DUNE::IMC::Packet::deserializePayload(), DUNE::IMC::Bus::dispatch(), DUNE::Tasks::RateLimiters::filter(), operator==(), DUNE::Plans::TimeProfile::parse(), DUNE::Tasks::Recipient::runCallBacks(), DUNE::IMC::ImcIridiumMessage::serialize(), and DUNE::IMC::Packet::serializeHeader().

virtual const char* DUNE::IMC::Message::getName ( void ) const

pure virtual

Retrieve message's name.

Returns: message's name.

Referenced by DUNE::Tasks::SimpleTransport::consume(), Transports::Iridium::Task::consume(), DUNE::Tasks::SimpleTransport::handleData(), and toJSON().

unsigned DUNE::IMC::Message::getPayloadSerializationSize ( void ) const

inline

Compute the amount of bytes required to properly serialize the payload of the message.

Returns: amount of bytes required to serialize message's payload.

References getFixedSerializationSize(), and getVariableSerializationSize().

Referenced by getSerializationSize(), and DUNE::IMC::Packet::serializeHeader().

unsigned DUNE::IMC::Message::getSerializationSize ( void ) const

inline

Compute the amount of bytes required to properly serialize the message.

Returns: amount of bytes required to serialize the message.

References getPayloadSerializationSize().

Referenced by DUNE::Tasks::SimpleTransport::consume(), and DUNE::IMC::Packet::serialize().

uint16_t DUNE::IMC::Message::getSource ( void ) const

inline

Get message's source.

Returns: message's source.

References m_header, and DUNE::IMC::Header::src.

Referenced by DUNE::Control::BasicAutopilot::consume(), DUNE::Maneuvers::VehicleFormation::consume(), DUNE::Control::PathController::consume(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::dispatchReply(), operator==(), DUNE::IMC::Packet::serializeHeader(), DUNE::Network::FragmentedMessage::setFragment(), and toJSON().

uint8_t DUNE::IMC::Message::getSourceEntity ( void ) const

inline

Get message's source entity.

Returns: message's source entity.

References m_header, and DUNE::IMC::Header::src_ent.

Referenced by DUNE::Control::PathController::consume(), DUNE::Navigation::BasicNavigation::consume(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::dispatchReply(), DUNE::Tasks::RateLimiters::filter(), DUNE::Control::SlopeData::onDistance(), operator==(), DUNE::IMC::Packet::serializeHeader(), and toJSON().

virtual uint16_t DUNE::IMC::Message::getSubId ( void ) const

inlinevirtual

Retrieve message's sub identification number (id field).

Returns: message's sub identification number.

Reimplemented in DUNE::IMC::LblRangeAcceptance, DUNE::IMC::PWM, DUNE::IMC::SetPWM, DUNE::IMC::SetControlSurfaceDeflection, DUNE::IMC::SetServoPosition, DUNE::IMC::SetThrusterActuation, DUNE::IMC::CameraZoom, DUNE::IMC::ServoPosition, DUNE::IMC::LblRange, DUNE::IMC::QueryEntityInfo, and DUNE::IMC::EntityInfo.

double DUNE::IMC::Message::getTimeStamp ( void ) const

inline

Retrieve the message's time stamp.

Returns: time stamp.

References m_header, and DUNE::IMC::Header::timestamp.

Referenced by DUNE::Maneuvers::FollowTrajectory::consume(), DUNE::Maneuvers::VehicleFormation::consume(), DUNE::Navigation::BasicNavigation::consume(), Transports::Iridium::Task::consume(), Maneuver::VehicleFormation::SMC::Task::onUpdate(), operator==(), DUNE::IMC::ImcIridiumMessage::serialize(), DUNE::IMC::Packet::serializeHeader(), Maneuver::VehicleFormation::SMC::Task::step(), and toJSON().

virtual fp64_t DUNE::IMC::Message::getValueFP ( void ) const

inlinevirtual

Get the field 'value' on messages containing a field with such an abbreviation with floating point type.

Returns: value of field 'value', 0.0 otherwise.

Reimplemented in DUNE::IMC::UamRxRange, DUNE::IMC::UamTxStatus, DUNE::IMC::Collision, DUNE::IMC::DesiredHeadingRate, DUNE::IMC::DesiredVerticalRate, DUNE::IMC::DesiredPitch, DUNE::IMC::DesiredRoll, DUNE::IMC::DesiredSpeed, DUNE::IMC::DesiredZ, DUNE::IMC::DesiredHeading, DUNE::IMC::DvlRejection, DUNE::IMC::TrueSpeed, DUNE::IMC::IndicatedSpeed, DUNE::IMC::SetLedBrightness, DUNE::IMC::LedBrightness, DUNE::IMC::ButtonEvent, DUNE::IMC::SetServoPosition, DUNE::IMC::SetThrusterActuation, DUNE::IMC::FineOil, DUNE::IMC::CrudeOil, DUNE::IMC::RhodamineDye, DUNE::IMC::ServoPosition, DUNE::IMC::FuelLevel, DUNE::IMC::RelativeHumidity, DUNE::IMC::Salinity, DUNE::IMC::Conductivity, DUNE::IMC::WaterDensity, DUNE::IMC::SoundSpeed, DUNE::IMC::DepthOffset, DUNE::IMC::Depth, DUNE::IMC::Pressure, DUNE::IMC::Temperature, DUNE::IMC::Distance, DUNE::IMC::Current, DUNE::IMC::Voltage, DUNE::IMC::Rpm, DUNE::IMC::LinkLevel, DUNE::IMC::VSWR, DUNE::IMC::RSSI, DUNE::IMC::StorageUsage, and DUNE::IMC::CpuUsage.

virtual unsigned DUNE::IMC::Message::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 in DUNE::IMC::NeptusBlob, DUNE::IMC::MessagePart, DUNE::IMC::UamRxRange, DUNE::IMC::UamTxStatus, DUNE::IMC::UamRxFrame, DUNE::IMC::UamTxFrame, DUNE::IMC::IoEvent, DUNE::IMC::PopEntityParameters, DUNE::IMC::PushEntityParameters, DUNE::IMC::SessionSubscription, DUNE::IMC::SaveEntityParameters, DUNE::IMC::SetEntityParameters, DUNE::IMC::QueryEntityParameters, DUNE::IMC::EntityParameters, DUNE::IMC::EntityParameter, DUNE::IMC::Target, DUNE::IMC::CompressedImage, DUNE::IMC::Event, DUNE::IMC::TrexPlan, DUNE::IMC::TrexOperation, DUNE::IMC::TrexToken, DUNE::IMC::TrexAttribute, DUNE::IMC::TrexCommand, DUNE::IMC::TrexObservation, DUNE::IMC::VehicleLinks, DUNE::IMC::CcuEvent, DUNE::IMC::Map, DUNE::IMC::MapFeature, DUNE::IMC::RemoteSensorInfo, DUNE::IMC::ReportedState, DUNE::IMC::PlanStatistics, DUNE::IMC::LeaderState, DUNE::IMC::PlanGeneration, DUNE::IMC::PlanControlState, DUNE::IMC::PlanControl, DUNE::IMC::PlanDBState, DUNE::IMC::PlanDBInformation, DUNE::IMC::PlanDB, DUNE::IMC::EmergencyControlState, DUNE::IMC::EmergencyControl, DUNE::IMC::PlanSpecification, DUNE::IMC::PlanTransition, DUNE::IMC::PlanManeuver, DUNE::IMC::PlanVariable, DUNE::IMC::AutopilotMode, DUNE::IMC::EntityMonitoringState, DUNE::IMC::MonitorEntityState, DUNE::IMC::VehicleCommand, DUNE::IMC::VehicleState, DUNE::IMC::Dislodge, DUNE::IMC::FormationMonitor, DUNE::IMC::RelativeState, DUNE::IMC::FollowRefState, DUNE::IMC::Reference, DUNE::IMC::FormationPlanExecution, DUNE::IMC::FormationParameters, DUNE::IMC::CompassCalibration, DUNE::IMC::CoverArea, DUNE::IMC::ManeuverControlState, DUNE::IMC::VehicleFormation, DUNE::IMC::CustomManeuver, DUNE::IMC::FollowTrajectory, DUNE::IMC::Elevator, DUNE::IMC::StationKeeping, DUNE::IMC::YoYo, DUNE::IMC::FollowPath, DUNE::IMC::Rows, DUNE::IMC::LowLevelControl, DUNE::IMC::IdleManeuver, DUNE::IMC::Loiter, DUNE::IMC::Teleoperation, DUNE::IMC::PopUp, DUNE::IMC::Goto, DUNE::IMC::LblEstimate, DUNE::IMC::SetLedBrightness, DUNE::IMC::QueryLedBrightness, DUNE::IMC::LedBrightness, DUNE::IMC::PowerChannelState, DUNE::IMC::PowerChannelControl, DUNE::IMC::LcdControl, DUNE::IMC::RemoteActions, DUNE::IMC::RemoteActionsRequest, DUNE::IMC::FuelLevel, DUNE::IMC::SonarData, DUNE::IMC::DevDataBinary, DUNE::IMC::DevDataText, DUNE::IMC::Distance, DUNE::IMC::AcousticSystems, DUNE::IMC::AcousticOperation, DUNE::IMC::AcousticMessage, DUNE::IMC::LblConfig, DUNE::IMC::LblBeacon, DUNE::IMC::SystemGroup, DUNE::IMC::GroupMembershipState, DUNE::IMC::IridiumTxStatus, DUNE::IMC::IridiumMsgTx, DUNE::IMC::IridiumMsgRx, DUNE::IMC::TextMessage, DUNE::IMC::SmsState, DUNE::IMC::SmsRx, DUNE::IMC::SmsTx, DUNE::IMC::Sms, DUNE::IMC::AnnounceService, DUNE::IMC::Announce, DUNE::IMC::ReplayControl, DUNE::IMC::LogBookControl, DUNE::IMC::LogBookEntry, DUNE::IMC::LoggingControl, DUNE::IMC::CacheControl, DUNE::IMC::UASimulation, DUNE::IMC::LeakSimulation, DUNE::IMC::MsgList, DUNE::IMC::EntityActivationState, DUNE::IMC::DevCalibrationState, DUNE::IMC::TransportBindings, DUNE::IMC::EntityList, DUNE::IMC::EntityInfo, and DUNE::IMC::EntityState.

Referenced by getPayloadSerializationSize().

bool DUNE::IMC::Message::operator!= ( const Message & other ) const

inline

Compare messages for inequality.

Parameters

[in] other message to compare.

Returns: true if messages are not equal, false otherwise.

bool DUNE::IMC::Message::operator== ( const Message & other ) const

Compare messages for equality.

Parameters

[in] other message to compare.

Returns: true if messages are equal, false otherwise.

References fieldsEqual(), getDestination(), getDestinationEntity(), getId(), getSource(), getSourceEntity(), and getTimeStamp().

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

pure 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.

Referenced by DUNE::IMC::Packet::deserializePayload().

virtual uint8_t* DUNE::IMC::Message::serializeFields ( uint8_t * bfr ) const

pure virtual

Referenced by DUNE::IMC::Packet::serialize(), and DUNE::IMC::ImcIridiumMessage::serialize().

void DUNE::IMC::Message::setDestination ( uint16_t dst )

inline

Set message's destination.

Parameters

dst	message's destination.

References DUNE::IMC::Header::dst, m_header, and setDestinationNested().

Referenced by DUNE::IMC::Packet::deserializePayload(), DUNE::Tasks::Task::dispatchReply(), DUNE::Hardware::HayesModem::HayesModem(), and DUNE::Hardware::HayesModem::sendAT().

void DUNE::IMC::Message::setDestinationEntity ( uint8_t dst_ent )

inline

Set message destination entity.

Parameters

dst_ent message's destination entity.

References DUNE::IMC::Header::dst_ent, m_header, and setDestinationEntityNested().

Referenced by DUNE::IMC::Packet::deserializePayload(), DUNE::Tasks::Task::dispatchReply(), and DUNE::Hardware::HayesModem::HayesModem().

virtual void DUNE::IMC::Message::setDestinationEntityNested ( uint8_t value )

inlineprotectedvirtual

Set the destination entity of nested messages.

Parameters

[in] value destination entity.

Reimplemented in DUNE::IMC::SetEntityParameters, DUNE::IMC::EntityParameters, DUNE::IMC::TrexPlan, DUNE::IMC::TrexOperation, DUNE::IMC::TrexToken, DUNE::IMC::VehicleLinks, DUNE::IMC::CcuEvent, DUNE::IMC::Map, DUNE::IMC::MapFeature, DUNE::IMC::PlanControl, DUNE::IMC::PlanDBState, DUNE::IMC::PlanDB, DUNE::IMC::EmergencyControl, DUNE::IMC::PlanSpecification, DUNE::IMC::PlanTransition, DUNE::IMC::PlanManeuver, DUNE::IMC::VehicleCommand, DUNE::IMC::FormationMonitor, DUNE::IMC::FollowRefState, DUNE::IMC::Reference, DUNE::IMC::FormationParameters, DUNE::IMC::CoverArea, DUNE::IMC::VehicleFormation, DUNE::IMC::FollowTrajectory, DUNE::IMC::FollowPath, DUNE::IMC::LowLevelControl, DUNE::IMC::LblEstimate, DUNE::IMC::SonarData, DUNE::IMC::Distance, DUNE::IMC::AcousticOperation, DUNE::IMC::AcousticMessage, DUNE::IMC::LblConfig, DUNE::IMC::LogBookControl, DUNE::IMC::CacheControl, and DUNE::IMC::MsgList.

Referenced by setDestinationEntity().

virtual void DUNE::IMC::Message::setDestinationNested ( uint16_t value )

inlineprotectedvirtual

Set the destination address of nested messages.

Parameters

[in] value destination address.

Reimplemented in DUNE::IMC::SetEntityParameters, DUNE::IMC::EntityParameters, DUNE::IMC::TrexPlan, DUNE::IMC::TrexOperation, DUNE::IMC::TrexToken, DUNE::IMC::VehicleLinks, DUNE::IMC::CcuEvent, DUNE::IMC::Map, DUNE::IMC::MapFeature, DUNE::IMC::PlanControl, DUNE::IMC::PlanDBState, DUNE::IMC::PlanDB, DUNE::IMC::EmergencyControl, DUNE::IMC::PlanSpecification, DUNE::IMC::PlanTransition, DUNE::IMC::PlanManeuver, DUNE::IMC::VehicleCommand, DUNE::IMC::FormationMonitor, DUNE::IMC::FollowRefState, DUNE::IMC::Reference, DUNE::IMC::FormationParameters, DUNE::IMC::CoverArea, DUNE::IMC::VehicleFormation, DUNE::IMC::FollowTrajectory, DUNE::IMC::FollowPath, DUNE::IMC::LowLevelControl, DUNE::IMC::LblEstimate, DUNE::IMC::SonarData, DUNE::IMC::Distance, DUNE::IMC::AcousticOperation, DUNE::IMC::AcousticMessage, DUNE::IMC::LblConfig, DUNE::IMC::LogBookControl, DUNE::IMC::CacheControl, and DUNE::IMC::MsgList.

Referenced by setDestination().

void DUNE::IMC::Message::setSource ( uint16_t src )

inline

Set message's source.

Parameters

src	message's source.

References m_header, setSourceNested(), and DUNE::IMC::Header::src.

Referenced by DUNE::IMC::Packet::deserializePayload(), and DUNE::Tasks::Task::dispatch().

void DUNE::IMC::Message::setSourceEntity ( uint8_t src_ent )

inline

Set message's source entity.

Parameters

src_ent message's source entity.

References m_header, setSourceEntityNested(), and DUNE::IMC::Header::src_ent.

Referenced by DUNE::Control::BottomTracker::BottomTracker(), DUNE::IMC::Packet::deserializePayload(), DUNE::Maneuvers::Maneuver::dispatch(), DUNE::Tasks::Task::dispatch(), DUNE::Control::BottomTracker::onDesiredZ(), Sensors::AIM104MultiIO::Task::onResourceInitialization(), and DUNE::IMC::Bus::registerRecipient().

virtual void DUNE::IMC::Message::setSourceEntityNested ( uint8_t value )

inlineprotectedvirtual

Set the source entity of nested messages.

Parameters

[in] value source entity.

Reimplemented in DUNE::IMC::SetEntityParameters, DUNE::IMC::EntityParameters, DUNE::IMC::TrexPlan, DUNE::IMC::TrexOperation, DUNE::IMC::TrexToken, DUNE::IMC::VehicleLinks, DUNE::IMC::CcuEvent, DUNE::IMC::Map, DUNE::IMC::MapFeature, DUNE::IMC::PlanControl, DUNE::IMC::PlanDBState, DUNE::IMC::PlanDB, DUNE::IMC::EmergencyControl, DUNE::IMC::PlanSpecification, DUNE::IMC::PlanTransition, DUNE::IMC::PlanManeuver, DUNE::IMC::VehicleCommand, DUNE::IMC::FormationMonitor, DUNE::IMC::FollowRefState, DUNE::IMC::Reference, DUNE::IMC::FormationParameters, DUNE::IMC::CoverArea, DUNE::IMC::VehicleFormation, DUNE::IMC::FollowTrajectory, DUNE::IMC::FollowPath, DUNE::IMC::LowLevelControl, DUNE::IMC::LblEstimate, DUNE::IMC::SonarData, DUNE::IMC::Distance, DUNE::IMC::AcousticOperation, DUNE::IMC::AcousticMessage, DUNE::IMC::LblConfig, DUNE::IMC::LogBookControl, DUNE::IMC::CacheControl, and DUNE::IMC::MsgList.

Referenced by setSourceEntity().

virtual void DUNE::IMC::Message::setSourceNested ( uint16_t value )

inlineprotectedvirtual

Set the source address of nested messages.

Parameters

[in] value source address.

Reimplemented in DUNE::IMC::SetEntityParameters, DUNE::IMC::EntityParameters, DUNE::IMC::TrexPlan, DUNE::IMC::TrexOperation, DUNE::IMC::TrexToken, DUNE::IMC::VehicleLinks, DUNE::IMC::CcuEvent, DUNE::IMC::Map, DUNE::IMC::MapFeature, DUNE::IMC::PlanControl, DUNE::IMC::PlanDBState, DUNE::IMC::PlanDB, DUNE::IMC::EmergencyControl, DUNE::IMC::PlanSpecification, DUNE::IMC::PlanTransition, DUNE::IMC::PlanManeuver, DUNE::IMC::VehicleCommand, DUNE::IMC::FormationMonitor, DUNE::IMC::FollowRefState, DUNE::IMC::Reference, DUNE::IMC::FormationParameters, DUNE::IMC::CoverArea, DUNE::IMC::VehicleFormation, DUNE::IMC::FollowTrajectory, DUNE::IMC::FollowPath, DUNE::IMC::LowLevelControl, DUNE::IMC::LblEstimate, DUNE::IMC::SonarData, DUNE::IMC::Distance, DUNE::IMC::AcousticOperation, DUNE::IMC::AcousticMessage, DUNE::IMC::LblConfig, DUNE::IMC::LogBookControl, DUNE::IMC::CacheControl, and DUNE::IMC::MsgList.

Referenced by setSource().

virtual void DUNE::IMC::Message::setSubId ( uint16_t subid )

inlinevirtual

Set message's sub identification number (id field).

Parameters

subid sub identification number.

Reimplemented in DUNE::IMC::LblRangeAcceptance, DUNE::IMC::PWM, DUNE::IMC::SetPWM, DUNE::IMC::SetControlSurfaceDeflection, DUNE::IMC::SetServoPosition, DUNE::IMC::SetThrusterActuation, DUNE::IMC::CameraZoom, DUNE::IMC::ServoPosition, DUNE::IMC::LblRange, DUNE::IMC::QueryEntityInfo, and DUNE::IMC::EntityInfo.

double DUNE::IMC::Message::setTimeStamp ( double ts )

inline

Set the message's time stamp to a given value.

Parameters

ts	time stamp.

Returns: time stamp.

References m_header, setTimeStampNested(), and DUNE::IMC::Header::timestamp.

Referenced by DUNE::Navigation::BasicNavigation::consume(), DUNE::IMC::ImcIridiumMessage::deserialize(), DUNE::IMC::Packet::deserializePayload(), DUNE::Tasks::Task::dispatch(), DUNE::Control::BottomTracker::onDesiredZ(), DUNE::IMC::Bus::registerRecipient(), DUNE::Navigation::BasicNavigation::reportToBus(), and Transports::Iridium::Task::sendAnnounce().

double DUNE::IMC::Message::setTimeStamp ( void )

inline

Set the message's time stamp to current time.

Returns: time stamp.

References DUNE::Time::Clock::getSinceEpoch().

virtual void DUNE::IMC::Message::setTimeStampNested ( double value )

inlineprotectedvirtual

Set the timestamp of nested messages.

Parameters

[in] value timestamp.

Reimplemented in DUNE::IMC::SetEntityParameters, DUNE::IMC::EntityParameters, DUNE::IMC::TrexPlan, DUNE::IMC::TrexOperation, DUNE::IMC::TrexToken, DUNE::IMC::VehicleLinks, DUNE::IMC::CcuEvent, DUNE::IMC::Map, DUNE::IMC::MapFeature, DUNE::IMC::PlanControl, DUNE::IMC::PlanDBState, DUNE::IMC::PlanDB, DUNE::IMC::EmergencyControl, DUNE::IMC::PlanSpecification, DUNE::IMC::PlanTransition, DUNE::IMC::PlanManeuver, DUNE::IMC::VehicleCommand, DUNE::IMC::FormationMonitor, DUNE::IMC::FollowRefState, DUNE::IMC::Reference, DUNE::IMC::FormationParameters, DUNE::IMC::CoverArea, DUNE::IMC::VehicleFormation, DUNE::IMC::FollowTrajectory, DUNE::IMC::FollowPath, DUNE::IMC::LowLevelControl, DUNE::IMC::LblEstimate, DUNE::IMC::SonarData, DUNE::IMC::Distance, DUNE::IMC::AcousticOperation, DUNE::IMC::AcousticMessage, DUNE::IMC::LblConfig, DUNE::IMC::LogBookControl, DUNE::IMC::CacheControl, and DUNE::IMC::MsgList.

Referenced by setTimeStamp().

virtual void DUNE::IMC::Message::setValueFP ( fp64_t val )

inlinevirtual

Set the field 'value' on messages containing a field with such an abbreviation with floating point type.

Parameters

val	desired value.

Reimplemented in DUNE::IMC::UamRxRange, DUNE::IMC::UamTxStatus, DUNE::IMC::Collision, DUNE::IMC::DesiredHeadingRate, DUNE::IMC::DesiredVerticalRate, DUNE::IMC::DesiredPitch, DUNE::IMC::DesiredRoll, DUNE::IMC::DesiredSpeed, DUNE::IMC::DesiredZ, DUNE::IMC::DesiredHeading, DUNE::IMC::DvlRejection, DUNE::IMC::TrueSpeed, DUNE::IMC::IndicatedSpeed, DUNE::IMC::SetLedBrightness, DUNE::IMC::LedBrightness, DUNE::IMC::ButtonEvent, DUNE::IMC::SetServoPosition, DUNE::IMC::SetThrusterActuation, DUNE::IMC::FineOil, DUNE::IMC::CrudeOil, DUNE::IMC::RhodamineDye, DUNE::IMC::ServoPosition, DUNE::IMC::FuelLevel, DUNE::IMC::RelativeHumidity, DUNE::IMC::Salinity, DUNE::IMC::Conductivity, DUNE::IMC::WaterDensity, DUNE::IMC::SoundSpeed, DUNE::IMC::DepthOffset, DUNE::IMC::Depth, DUNE::IMC::Pressure, DUNE::IMC::Temperature, DUNE::IMC::Distance, DUNE::IMC::Current, DUNE::IMC::Voltage, DUNE::IMC::Rpm, DUNE::IMC::LinkLevel, DUNE::IMC::VSWR, DUNE::IMC::RSSI, DUNE::IMC::StorageUsage, and DUNE::IMC::CpuUsage.

Referenced by Sensors::AIM104MultiIO::Task::task().

void DUNE::IMC::Message::toJSON ( std::ostream & os ) const

Output the message in JSON format.

Parameters

os	output stream.

References fieldsToJSON(), getDestination(), getDestinationEntity(), getName(), getSource(), getSourceEntity(), getTimeStamp(), and DUNE::IMC::toJSON().

Referenced by toText().

void DUNE::IMC::Message::toText ( std::ostream & os ) const

inline

Output the message in human readable text.

Parameters

os	output stream.

References toJSON().

Referenced by DUNE::Parsers::PlanConfigParser::parse().

virtual int DUNE::IMC::Message::validate ( void ) const

pure 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.

Member Data Documentation

Header DUNE::IMC::Message::m_header

protected

Message header.

Collaboration diagram for DUNE::IMC::Message:

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation