Detailed Description

Formation.

Public Types
enum	TypeEnum { FC_REQUEST, FC_REPORT }

enum	OperationEnum { OP_START, OP_STOP, OP_READY, OP_EXECUTING, OP_FAILURE }

enum	FormationReferenceFrameEnum { OP_EARTH_FIXED, OP_PATH_FIXED, OP_PATH_CURVED }

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

◆ FormationReferenceFrameEnum

enum DUNE::IMC::Formation::FormationReferenceFrameEnum

Formation Reference Frame.

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

◆ OperationEnum

enum DUNE::IMC::Formation::OperationEnum

Operation.

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

◆ TypeEnum

enum DUNE::IMC::Formation::TypeEnum

Type.

Enumerator
FC_REQUEST	Request.
FC_REPORT	Report.

Constructor & Destructor Documentation

◆ Formation()

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

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

Member Function Documentation

◆ clear()

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

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

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

◆ clone()

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().

◆ deserializeFields()

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().

◆ fieldsEqual()

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.

◆ fieldsToJSON()

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().

◆ getFixedSerializationSize()

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.

◆ getId()

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().

◆ getIdStatic()

static uint16_t DUNE::IMC::Formation::getIdStatic ( void )

inlinestatic

Referenced by getId().

◆ getName()

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

inlinevirtual

Retrieve message's name.

Returns: message's name.

Implements DUNE::IMC::Message.

◆ getVariableSerializationSize()

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().

◆ reverseDeserializeFields()

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().

◆ serializeFields()

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

virtual

Implements DUNE::IMC::Message.

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

◆ setDestinationEntityNested()

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.

◆ setDestinationNested()

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.

◆ setSourceEntityNested()

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.

◆ setSourceNested()

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.

◆ setTimeStampNested()

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

protectedvirtual

Set the timestamp of nested messages.

Parameters

[in] value timestamp.

Reimplemented from DUNE::IMC::Message.

◆ validate()

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

◆ comms_timeout

uint16_t DUNE::IMC::Formation::comms_timeout

Communications time-out.

Referenced by fieldsEqual().

◆ converg_max

fp32_t DUNE::IMC::Formation::converg_max

Convergence threshold.

Referenced by fieldsEqual().

◆ converg_timeout

uint16_t DUNE::IMC::Formation::converg_timeout

Convergence time-out.

Referenced by fieldsEqual().

◆ custom

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

Custom settings for maneuver.

Referenced by fieldsEqual().

◆ description

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

Plan Description.

Referenced by fieldsEqual().

◆ formation_name

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

Formation Name.

Referenced by fieldsEqual().

◆ group_name

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

Target Group Name.

Referenced by fieldsEqual().

◆ leader_alt_max

fp32_t DUNE::IMC::Formation::leader_alt_max

Formation Leader Maximum Altitude.

Referenced by fieldsEqual().

◆ leader_alt_min

fp32_t DUNE::IMC::Formation::leader_alt_min

Formation Leader Minimum Altitude.

Referenced by fieldsEqual().

◆ leader_bank_lim

fp32_t DUNE::IMC::Formation::leader_bank_lim

Formation Leader Bank Limit.

Referenced by fieldsEqual().

◆ leader_speed_max

fp32_t DUNE::IMC::Formation::leader_speed_max

Formation Leader Maximum Speed.

Referenced by fieldsEqual().

◆ leader_speed_min

fp32_t DUNE::IMC::Formation::leader_speed_min

Formation Leader Minimum Speed.

Referenced by fieldsEqual().

◆ op

uint8_t DUNE::IMC::Formation::op

Operation.

Referenced by fieldsEqual().

◆ participants

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

Formation Participants.

Referenced by fieldsEqual().

◆ plan_id

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

Formation Plan ID.

Referenced by fieldsEqual().

◆ pos_sim_err_lim

fp32_t DUNE::IMC::Formation::pos_sim_err_lim

Position mismatch limit.

Referenced by fieldsEqual().

◆ pos_sim_err_timeout

uint16_t DUNE::IMC::Formation::pos_sim_err_timeout

Position mismatch time-out.

Referenced by fieldsEqual().

◆ pos_sim_err_wrn

fp32_t DUNE::IMC::Formation::pos_sim_err_wrn

Position mismatch threshold.

Referenced by fieldsEqual().

◆ reference_frame

uint8_t DUNE::IMC::Formation::reference_frame

Formation Reference Frame.

Referenced by fieldsEqual().

◆ turb_lim

fp32_t DUNE::IMC::Formation::turb_lim

Turbulence limit.

Referenced by fieldsEqual().

◆ type

uint8_t DUNE::IMC::Formation::type

Type.

Referenced by fieldsEqual().

Collaboration diagram for DUNE::IMC::Formation:

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Member Enumeration Documentation

◆ FormationReferenceFrameEnum

◆ OperationEnum

◆ TypeEnum

Constructor & Destructor Documentation

◆ Formation()

Member Function Documentation

◆ clear()

◆ clone()

◆ deserializeFields()

◆ fieldsEqual()

◆ fieldsToJSON()

◆ getFixedSerializationSize()

◆ getId()

◆ getIdStatic()

◆ getName()

◆ getVariableSerializationSize()

◆ reverseDeserializeFields()

◆ serializeFields()

◆ setDestinationEntityNested()

◆ setDestinationNested()

◆ setSourceEntityNested()

◆ setSourceNested()

◆ setTimeStampNested()

◆ validate()

Member Data Documentation

◆ comms_timeout

◆ converg_max

◆ converg_timeout

◆ custom

◆ 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

◆ type