DUNE::IMC::PathControlState Class Reference

Detailed Description

Path Control State.

Public Types

Public Member Functions
	PathControlState (void)
PathControlState *	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
uint32_t	path_ref
fp64_t	start_lat
fp64_t	start_lon
fp32_t	start_z
uint8_t	start_z_units
fp64_t	end_lat
fp64_t	end_lon
fp32_t	end_z
uint8_t	end_z_units
fp32_t	lradius
uint8_t	flags
fp32_t	x
fp32_t	y
fp32_t	z
fp32_t	vx
fp32_t	vy
fp32_t	vz
fp32_t	course_error
uint16_t	eta

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::PathControlState::FlagsBits

Flags.

Enumerator
FL_NEAR	Near Endpoint.
FL_LOITERING	Loitering.
FL_NO_Z	No Altitude/Depth control.
FL_3DTRACK	3D Tracking.
FL_CCLOCKW	Counter-Clockwise loiter.

Constructor & Destructor Documentation

DUNE::IMC::PathControlState::PathControlState

(

void

)

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

Member Function Documentation

void DUNE::IMC::PathControlState::clear ( void  )

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

References DUNE::IMC::EntityState::flags.

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

inlinevirtual

Retrieve a copy of the message.

Returns

message copy.

Implements DUNE::IMC::Message.

References DUNE::IMC::EntityState::clear(), DUNE::IMC::EntityState::deserializeFields(), DUNE::IMC::EntityState::fieldsEqual(), DUNE::IMC::EntityState::reverseDeserializeFields(), DUNE::IMC::EntityState::serializeFields(), and DUNE::IMC::EntityState::validate().

uint16_t DUNE::IMC::PathControlState::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 DUNE::IMC::deserialize(), and DUNE::IMC::EntityState::flags.

bool DUNE::IMC::PathControlState::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 course_error, end_lat, end_lon, end_z, end_z_units, eta, DUNE::IMC::EntityState::flags, flags, lradius, path_ref, start_lat, start_lon, start_z, start_z_units, vx, vy, vz, x, y, and z.

void DUNE::IMC::PathControlState::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 DUNE::IMC::EntityState::flags, and DUNE::IMC::toJSON().

unsigned DUNE::IMC::PathControlState::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.

References DUNE::IMC::EntityState::fieldsToJSON().

uint16_t DUNE::IMC::PathControlState::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::PathControlState::getIdStatic ( void  )

inlinestatic

Referenced by getId().

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

inlinevirtual

Retrieve message's name.

Returns

message's name.

Implements DUNE::IMC::Message.

uint16_t DUNE::IMC::PathControlState::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 DUNE::IMC::deserialize(), DUNE::IMC::EntityState::flags, and DUNE::IMC::reverseDeserialize().

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

virtual

Implements DUNE::IMC::Message.

References DUNE::IMC::EntityState::flags, and DUNE::IMC::serialize().

int DUNE::IMC::PathControlState::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::PathControlState::course_error

Course Error.

Referenced by fieldsEqual(), and DUNE::Control::PathController::signalError().

fp64_t DUNE::IMC::PathControlState::end_lat

End Point – Latitude WGS-84.

Referenced by DUNE::Control::PathController::consume(), and fieldsEqual().

fp64_t DUNE::IMC::PathControlState::end_lon

End Point – WGS-84 Longitude.

Referenced by DUNE::Control::PathController::consume(), and fieldsEqual().

fp32_t DUNE::IMC::PathControlState::end_z

End Point – Z Reference.

Referenced by DUNE::Control::PathController::consume(), and fieldsEqual().

uint8_t DUNE::IMC::PathControlState::end_z_units

End Point – Z Units.

Referenced by DUNE::Control::PathController::consume(), and fieldsEqual().

uint16_t DUNE::IMC::PathControlState::eta

Estimated Time to Arrival (ETA).

Referenced by fieldsEqual(), and DUNE::Control::PathController::signalError().

uint8_t DUNE::IMC::PathControlState::flags

Flags.

Referenced by DUNE::Control::PathController::consume(), fieldsEqual(), DUNE::Maneuvers::Circular::onPathControlState(), DUNE::Maneuvers::FigureEight::onPathControlState(), DUNE::Maneuvers::VehicleFormation::onPathControlState(), DUNE::Maneuvers::FollowTrajectory::onPathControlState(), DUNE::Control::PathController::signalError(), DUNE::Maneuvers::Elevate::updatePathControl(), and DUNE::Maneuvers::StationKeep::updatePathControl().

fp32_t DUNE::IMC::PathControlState::lradius

Loiter – Radius.

Referenced by fieldsEqual(), and DUNE::Control::PathController::signalError().

uint32_t DUNE::IMC::PathControlState::path_ref

Path Reference.

Referenced by DUNE::Control::PathController::consume(), DUNE::Maneuvers::Maneuver::consume(), and fieldsEqual().

fp64_t DUNE::IMC::PathControlState::start_lat

Start Point – Latitude WGS-84.

Referenced by DUNE::Control::PathController::consume(), and fieldsEqual().

fp64_t DUNE::IMC::PathControlState::start_lon

Start Point – WGS-84 Longitude.

Referenced by DUNE::Control::PathController::consume(), and fieldsEqual().

fp32_t DUNE::IMC::PathControlState::start_z

Start Point – Z Reference.

Referenced by DUNE::Control::PathController::consume(), and fieldsEqual().

uint8_t DUNE::IMC::PathControlState::start_z_units

Start Point – Z Units.

Referenced by DUNE::Control::PathController::consume(), and fieldsEqual().

fp32_t DUNE::IMC::PathControlState::vx

Along Track Velocity.

Referenced by fieldsEqual(), and DUNE::Control::PathController::signalError().

fp32_t DUNE::IMC::PathControlState::vy

Cross Track Velocity.

Referenced by fieldsEqual(), and DUNE::Control::PathController::signalError().

fp32_t DUNE::IMC::PathControlState::vz

Vertical Track Velocity.

Referenced by fieldsEqual(), and DUNE::Control::PathController::signalError().

fp32_t DUNE::IMC::PathControlState::x

Along Track Position.

Referenced by fieldsEqual(), DUNE::Control::PathController::signalError(), and DUNE::Maneuvers::StationKeep::updatePathControl().

fp32_t DUNE::IMC::PathControlState::y

Cross Track Position.

Referenced by fieldsEqual(), DUNE::Control::PathController::signalError(), and DUNE::Maneuvers::StationKeep::updatePathControl().

fp32_t DUNE::IMC::PathControlState::z

Vertical Track Position.

Referenced by fieldsEqual(), and DUNE::Control::PathController::signalError().

Collaboration diagram for DUNE::IMC::PathControlState: