DUNE: Uniform Navigational Environment  2017.01.0
DUNE::IMC::FormationControlParams Class Reference

Detailed Description

Formation Control Parameters.

Public Types

enum  ActionEnum { OP_REQ, OP_SET, OP_REP }
 

Public Member Functions

 FormationControlParams (void)
 
Messageclone (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

Action.

Enumerator
OP_REQ 

Request.

OP_SET 

Set.

OP_REP 

Report.

Constructor & Destructor Documentation

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

Member Function Documentation

void DUNE::IMC::FormationControlParams::clear ( void  )
virtual
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
bfrstream of bytes (packet)
lenlength 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]othermessage 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
osoutput stream.
indent_levelnumber 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
bfrstream of bytes (packet)
lenlength 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
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
fp32_t DUNE::IMC::FormationControlParams::accel_safe_margin
fp32_t DUNE::IMC::FormationControlParams::accel_switch_gain
uint8_t DUNE::IMC::FormationControlParams::action
fp32_t DUNE::IMC::FormationControlParams::bond_thick
fp32_t DUNE::IMC::FormationControlParams::deconfl_gain
fp32_t DUNE::IMC::FormationControlParams::deconflict_offset
fp32_t DUNE::IMC::FormationControlParams::lat_gain
fp32_t DUNE::IMC::FormationControlParams::lead_gain
fp32_t DUNE::IMC::FormationControlParams::lon_gain
fp32_t DUNE::IMC::FormationControlParams::safe_dist
Collaboration diagram for DUNE::IMC::FormationControlParams:
Collaboration graph