Detailed Description

Formation Control Parameters.

Public Types
enum	ActionEnum { OP_REQ, OP_SET, OP_REP }

Public Member Functions
	FormationControlParams (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

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

virtual unsigned	getVariableSerializationSize (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
uint8_t	action

fp32_t	lon_gain

fp32_t	lat_gain

fp32_t	bond_thick

fp32_t	lead_gain

fp32_t	deconfl_gain

fp32_t	accel_switch_gain

fp32_t	safe_dist

fp32_t	deconflict_offset

fp32_t	accel_safe_margin

fp32_t	accel_lim_x

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::FormationControlParams::ActionEnum

Action.

Enumerator
OP_REQ	Request.
OP_SET	Set.
OP_REP	Report.

Constructor & Destructor Documentation

DUNE::IMC::FormationControlParams::FormationControlParams ( void )

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

Referenced by clone().

Member Function Documentation

void DUNE::IMC::FormationControlParams::clear ( void )

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

References accel_lim_x, accel_safe_margin, accel_switch_gain, action, bond_thick, deconfl_gain, deconflict_offset, lat_gain, lead_gain, lon_gain, and safe_dist.

Referenced by FormationControlParams().

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

inlinevirtual

Retrieve a copy of the message.

Returns: message copy.

Implements DUNE::IMC::Message.

References FormationControlParams().

uint16_t DUNE::IMC::FormationControlParams::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 accel_lim_x, accel_safe_margin, accel_switch_gain, action, bond_thick, deconfl_gain, deconflict_offset, DUNE::IMC::deserialize(), lat_gain, lead_gain, lon_gain, and safe_dist.

bool DUNE::IMC::FormationControlParams::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 accel_lim_x, accel_safe_margin, accel_switch_gain, action, bond_thick, deconfl_gain, deconflict_offset, lat_gain, lead_gain, lon_gain, and safe_dist.

void DUNE::IMC::FormationControlParams::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 accel_lim_x, accel_safe_margin, accel_switch_gain, action, bond_thick, deconfl_gain, deconflict_offset, lat_gain, lead_gain, lon_gain, safe_dist, and DUNE::IMC::toJSON().

unsigned DUNE::IMC::FormationControlParams::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::FormationControlParams::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::FormationControlParams::getIdStatic ( void )

inlinestatic

Referenced by getId().

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

inlinevirtual

Retrieve message's name.

Returns: message's name.

Implements DUNE::IMC::Message.

uint16_t DUNE::IMC::FormationControlParams::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 accel_lim_x, accel_safe_margin, accel_switch_gain, action, bond_thick, deconfl_gain, deconflict_offset, DUNE::IMC::deserialize(), lat_gain, lead_gain, lon_gain, DUNE::IMC::reverseDeserialize(), and safe_dist.

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

virtual

Implements DUNE::IMC::Message.

References accel_lim_x, accel_safe_margin, accel_switch_gain, action, bond_thick, deconfl_gain, deconflict_offset, lat_gain, lead_gain, lon_gain, safe_dist, and DUNE::IMC::serialize().

int DUNE::IMC::FormationControlParams::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

fp32_t DUNE::IMC::FormationControlParams::accel_lim_x

Maximum Longitudinal Acceleration.

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

fp32_t DUNE::IMC::FormationControlParams::accel_safe_margin

Acceleration Safety Margin.

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

fp32_t DUNE::IMC::FormationControlParams::accel_switch_gain

Acceleration Switch Gain.

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

uint8_t DUNE::IMC::FormationControlParams::action

Action.

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

fp32_t DUNE::IMC::FormationControlParams::bond_thick

Boundary Layer Thickness.

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

fp32_t DUNE::IMC::FormationControlParams::deconfl_gain

Deconfliction Gain.

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

fp32_t DUNE::IMC::FormationControlParams::deconflict_offset

Deconfliction Offset.

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

fp32_t DUNE::IMC::FormationControlParams::lat_gain

Lateral Gain.

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

fp32_t DUNE::IMC::FormationControlParams::lead_gain

Leader Gain.

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

fp32_t DUNE::IMC::FormationControlParams::lon_gain

Longitudinal Gain.

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

fp32_t DUNE::IMC::FormationControlParams::safe_dist

Safety Distance.

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

Collaboration diagram for DUNE::IMC::FormationControlParams:

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