DUNE::IMC::Formation Class Reference

Detailed Description

Formation.

Public Types

Public Member Functions
	Formation (void)
Formation *	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
std::string	formation_name
uint8_t	type
uint8_t	op
std::string	group_name
std::string	plan_id
std::string	description
uint8_t	reference_frame
MessageList< VehicleFormationParticipant >	participants
fp32_t	leader_bank_lim
fp32_t	leader_speed_min
fp32_t	leader_speed_max
fp32_t	leader_alt_min
fp32_t	leader_alt_max
fp32_t	pos_sim_err_lim
fp32_t	pos_sim_err_wrn
uint16_t	pos_sim_err_timeout
fp32_t	converg_max
uint16_t	converg_timeout
uint16_t	comms_timeout
fp32_t	turb_lim
std::string	custom

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::Formation::FormationReferenceFrameEnum

Formation Reference Frame.

Enumerator
OP_EARTH_FIXED	Earth Fixed.
OP_PATH_FIXED	Path Fixed.
OP_PATH_CURVED	Path Curved.

enum DUNE::IMC::Formation::OperationEnum

Operation.

Enumerator
OP_START	Start.
OP_STOP	Stop.
OP_READY	Ready.
OP_EXECUTING	Executing.
OP_FAILURE	Failure.

enum DUNE::IMC::Formation::TypeEnum

Type.

Enumerator
FC_REQUEST	Request.
FC_REPORT	Report.

Constructor & Destructor Documentation

DUNE::IMC::Formation::Formation

(

void

)

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

Member Function Documentation

void DUNE::IMC::Formation::clear ( void  )

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

References DUNE::IMC::EntityState::description.

Formation* DUNE::IMC::Formation::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::Formation::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::EntityState::description, and DUNE::IMC::deserialize().

bool DUNE::IMC::Formation::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 comms_timeout, converg_max, converg_timeout, custom, DUNE::IMC::EntityState::description, description, formation_name, group_name, leader_alt_max, leader_alt_min, leader_bank_lim, leader_speed_max, leader_speed_min, op, participants, plan_id, pos_sim_err_lim, pos_sim_err_timeout, pos_sim_err_wrn, reference_frame, turb_lim, and type.

void DUNE::IMC::Formation::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::description, and DUNE::IMC::toJSON().

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

inlinestatic

Referenced by getId().

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

inlinevirtual

Retrieve message's name.

Returns

message's name.

Implements DUNE::IMC::Message.

unsigned DUNE::IMC::Formation::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::getSerializationSize(), DUNE::IMC::MessageList< 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::Formation::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::EntityState::description, DUNE::IMC::deserialize(), and DUNE::IMC::reverseDeserialize().

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

virtual

Implements DUNE::IMC::Message.

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

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

protectedvirtual

Set the timestamp of nested messages.

Parameters

[in]

value

timestamp.

Reimplemented from DUNE::IMC::Message.

int DUNE::IMC::Formation::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

uint16_t DUNE::IMC::Formation::comms_timeout

Communications time-out.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::Formation::converg_max

Convergence threshold.

Referenced by fieldsEqual().

uint16_t DUNE::IMC::Formation::converg_timeout

Convergence time-out.

Referenced by fieldsEqual().

std::string DUNE::IMC::Formation::custom

Custom settings for maneuver.

Referenced by fieldsEqual().

std::string DUNE::IMC::Formation::description

Plan Description.

Referenced by fieldsEqual().

std::string DUNE::IMC::Formation::formation_name

Formation Name.

Referenced by fieldsEqual().

std::string DUNE::IMC::Formation::group_name

Target Group Name.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::Formation::leader_alt_max

Formation Leader Maximum Altitude.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::Formation::leader_alt_min

Formation Leader Minimum Altitude.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::Formation::leader_bank_lim

Formation Leader Bank Limit.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::Formation::leader_speed_max

Formation Leader Maximum Speed.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::Formation::leader_speed_min

Formation Leader Minimum Speed.

Referenced by fieldsEqual().

uint8_t DUNE::IMC::Formation::op

Operation.

Referenced by fieldsEqual().

MessageList<VehicleFormationParticipant> DUNE::IMC::Formation::participants

Formation Participants.

Referenced by fieldsEqual().

std::string DUNE::IMC::Formation::plan_id

Formation Plan ID.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::Formation::pos_sim_err_lim

Position mismatch limit.

Referenced by fieldsEqual().

uint16_t DUNE::IMC::Formation::pos_sim_err_timeout

Position mismatch time-out.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::Formation::pos_sim_err_wrn

Position mismatch threshold.

Referenced by fieldsEqual().

uint8_t DUNE::IMC::Formation::reference_frame

Formation Reference Frame.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::Formation::turb_lim

Turbulence limit.

Referenced by fieldsEqual().

uint8_t DUNE::IMC::Formation::type

Type.

Referenced by fieldsEqual().

Collaboration diagram for DUNE::IMC::Formation: