Detailed Description

Follow Reference State.

Public Types

Public Member Functions
	FollowRefState (void)

FollowRefState *	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	control_src

uint8_t	control_ent

InlineMessage< Reference >	reference

uint8_t	state

uint8_t	proximity

Protected Member Functions
void	setTimeStampNested (double value__)

void	setSourceNested (uint16_t value__)

void	setSourceEntityNested (uint8_t value__)

void	setDestinationNested (uint16_t value__)

void	setDestinationEntityNested (uint8_t value__)

Additional Inherited Members
Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Member Enumeration Documentation

enum DUNE::IMC::FollowRefState::ProximityBits

Proximity.

Enumerator
PROX_FAR	Far from the destination.
PROX_XY_NEAR	Near in the horizontal plane.
PROX_Z_NEAR	Near in the vertical plane.
PROX_XY_UNREACHABLE	Unreachable in the horizontal plane.
PROX_Z_UNREACHABLE	Unreachable in the vertical plane.

enum DUNE::IMC::FollowRefState::StateEnum

State.

Enumerator
FR_WAIT	Waiting for first reference.
FR_GOTO	Going towards received reference.
FR_LOITER	Loitering after arriving at the reference.
FR_HOVER	Hovering after arriving at the reference.
FR_ELEVATOR	Moving in z after arriving at the target cylinder.
FR_TIMEOUT	Controlling system timed out.

Constructor & Destructor Documentation

DUNE::IMC::FollowRefState::FollowRefState ( void )

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

Member Function Documentation

void DUNE::IMC::FollowRefState::clear ( void )

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

References DUNE::IMC::EntityState::state.

FollowRefState* DUNE::IMC::FollowRefState::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::FollowRefState::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::state.

bool DUNE::IMC::FollowRefState::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 control_ent, control_src, proximity, reference, DUNE::IMC::EntityState::state, and state.

void DUNE::IMC::FollowRefState::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::state, and DUNE::IMC::toJSON().

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

inlinestatic

Referenced by getId().

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

inlinevirtual

Retrieve message's name.

Returns: message's name.

Implements DUNE::IMC::Message.

unsigned DUNE::IMC::FollowRefState::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 DUNE::IMC::EntityState::fieldsToJSON(), DUNE::IMC::InlineMessage< Type >::getSerializationSize(), DUNE::IMC::Message::setDestinationEntityNested(), DUNE::IMC::Message::setDestinationNested(), DUNE::IMC::Message::setSourceEntityNested(), DUNE::IMC::Message::setSourceNested(), and DUNE::IMC::Message::setTimeStampNested().

uint16_t DUNE::IMC::FollowRefState::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::reverseDeserialize(), and DUNE::IMC::EntityState::state.

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

virtual

Implements DUNE::IMC::Message.

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

void DUNE::IMC::FollowRefState::setDestinationEntityNested ( uint8_t value )

protectedvirtual

Set the destination entity of nested messages.

Parameters

[in] value destination entity.

Reimplemented from DUNE::IMC::Message.

void DUNE::IMC::FollowRefState::setDestinationNested ( uint16_t value )

protectedvirtual

Set the destination address of nested messages.

Parameters

[in] value destination address.

Reimplemented from DUNE::IMC::Message.

void DUNE::IMC::FollowRefState::setSourceEntityNested ( uint8_t value )

protectedvirtual

Set the source entity of nested messages.

Parameters

[in] value source entity.

Reimplemented from DUNE::IMC::Message.

void DUNE::IMC::FollowRefState::setSourceNested ( uint16_t value )

protectedvirtual

Set the source address of nested messages.

Parameters

[in] value source address.

Reimplemented from DUNE::IMC::Message.

void DUNE::IMC::FollowRefState::setTimeStampNested ( double value )

protectedvirtual

Set the timestamp of nested messages.

Parameters

[in] value timestamp.

Reimplemented from DUNE::IMC::Message.

int DUNE::IMC::FollowRefState::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

uint8_t DUNE::IMC::FollowRefState::control_ent

Controlling Entity.

Referenced by fieldsEqual().

uint16_t DUNE::IMC::FollowRefState::control_src

Controlling Source.

Referenced by fieldsEqual().

uint8_t DUNE::IMC::FollowRefState::proximity

Proximity.

Referenced by fieldsEqual().

InlineMessage<Reference> DUNE::IMC::FollowRefState::reference

Reference.

Referenced by fieldsEqual().

uint8_t DUNE::IMC::FollowRefState::state

State.

Referenced by fieldsEqual().

Collaboration diagram for DUNE::IMC::FollowRefState:

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation