pt.lsts.imc

Class VehicleState

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.VehicleState

All Implemented Interfaces:

java.lang.Cloneable, java.lang.Comparable<IMCMessage>, IMessage

public class VehicleState
extends IMCMessage

IMC Message Vehicle State (500)
This message summarizes the overall state of the vehicle. It can
contains information regarding:
- The overall operation mode.
- Any error conditions.
- Current maneuver execution.
- Active control loops.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	VehicleState.OP_MODE

Field Summary

Fields

Modifier and Type	Field and Description
static long	CL_ALL
static long	CL_ALTITUDE
static long	CL_DEPTH
static long	CL_EXTERNAL
static long	CL_NO_OVERRIDE
static long	CL_NONE
static long	CL_PATH
static long	CL_PITCH
static long	CL_ROLL
static long	CL_SPEED
static long	CL_TELEOPERATION
static long	CL_TORQUE
static long	CL_VERTICAL_RATE
static long	CL_YAW
static long	CL_YAW_RATE
static int	ID_STATIC
static short	VFLG_MANEUVER_DONE

Fields inherited from class pt.lsts.imc.IMCMessage

DEFAULT_ENTITY_ID, DEFAULT_SYSTEM_ID

Constructor Summary

Constructors

Constructor and Description
VehicleState()
VehicleState(IMCDefinition defs)
VehicleState(VehicleState.OP_MODE op_mode, short error_count, java.lang.String error_ents, int maneuver_type, double maneuver_stime, int maneuver_eta, long control_loops, short flags, java.lang.String last_error, double last_error_time)

Method Summary

Modifier and Type	Method and Description
static VehicleState	clone(IMCMessage msg)
static VehicleState	create(java.lang.Object... values)
long	getControlLoops() Enabled control loops.
short	getErrorCount()
java.lang.String	getErrorEnts()
short	getFlags()
java.lang.String	getLastError()
double	getLastErrorTime()
int	getManeuverEta()
double	getManeuverStime()
int	getManeuverType()
VehicleState.OP_MODE	getOpMode() The overall operation mode.
void	setControlLoops(long control_loops)
void	setErrorCount(short error_count)
void	setErrorEnts(java.lang.String error_ents)
void	setFlags(short flags)
void	setLastError(java.lang.String last_error)
void	setLastErrorTime(double last_error_time)
void	setManeuverEta(int maneuver_eta)
void	setManeuverStime(double maneuver_stime)
void	setManeuverType(int maneuver_type)
void	setOpMode(short op_mode)
void	setOpMode(java.lang.String op_mode)
void	setOpMode(VehicleState.OP_MODE op_mode)

Methods inherited from class pt.lsts.imc.IMCMessage

asJSON, asXml, cloneMessage, cloneMessage, compareTo, decodeTupleList, dump, encodeTupleList, get, getAbbrev, getAsNumber, getAsString, getBitmask, getDate, getDouble, getDst, getDstEnt, getFieldNames, getFloat, getHeader, getHeaderValue, getInteger, getLong, getLongFieldName, getLongName, getMessage, getMessage, getMessageList, getMessageList, getMessageType, getMgid, getPayloadSize, getProtocolFactory, getRawData, getSize, getSourceName, getSrc, getSrcEnt, getString, getString, getTimestamp, getTimestampMillis, getTupleList, getTypeOf, getUnitsOf, getValue, hasFlag, hexdump, isNull, isPeriodic, main, makeImmutable, parseXml, payloadMD5, serialize, serialize, setBitMask, setDst, setDstEnt, setHeader, setMessage, setMessageList, setSrc, setSrcEnt, setTimestamp, setTimestampMillis, setType, setValue, setValues, toString, validate

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

ID_STATIC

public static final int ID_STATIC

See Also:

Constant Field Values

CL_NONE

public static final long CL_NONE

See Also:

Constant Field Values

CL_PATH

public static final long CL_PATH

See Also:

Constant Field Values

CL_TELEOPERATION

public static final long CL_TELEOPERATION

See Also:

Constant Field Values

CL_ALTITUDE

public static final long CL_ALTITUDE

See Also:

Constant Field Values

CL_DEPTH

public static final long CL_DEPTH

See Also:

Constant Field Values

CL_ROLL

public static final long CL_ROLL

See Also:

Constant Field Values

CL_PITCH

public static final long CL_PITCH

See Also:

Constant Field Values

CL_YAW

public static final long CL_YAW

See Also:

Constant Field Values

CL_SPEED

public static final long CL_SPEED

See Also:

Constant Field Values

CL_YAW_RATE

public static final long CL_YAW_RATE

See Also:

Constant Field Values

CL_VERTICAL_RATE

public static final long CL_VERTICAL_RATE

See Also:

Constant Field Values

CL_TORQUE

public static final long CL_TORQUE

See Also:

Constant Field Values

CL_EXTERNAL

public static final long CL_EXTERNAL

See Also:

Constant Field Values

CL_NO_OVERRIDE

public static final long CL_NO_OVERRIDE

See Also:

Constant Field Values

CL_ALL

public static final long CL_ALL

See Also:

Constant Field Values

VFLG_MANEUVER_DONE

public static final short VFLG_MANEUVER_DONE

See Also:

Constant Field Values

Constructor Detail

VehicleState

public VehicleState()

VehicleState

public VehicleState(IMCDefinition defs)

VehicleState

public VehicleState(VehicleState.OP_MODE op_mode,
                    short error_count,
                    java.lang.String error_ents,
                    int maneuver_type,
                    double maneuver_stime,
                    int maneuver_eta,
                    long control_loops,
                    short flags,
                    java.lang.String last_error,
                    double last_error_time)

Method Detail

create

public static VehicleState create(java.lang.Object... values)

clone

public static VehicleState clone(IMCMessage msg)
                          throws java.lang.Exception

Throws:

java.lang.Exception

getOpMode

public VehicleState.OP_MODE getOpMode()

The overall operation mode.

Returns:

Operation Mode (enumerated) - uint8_t

getErrorCount

public short getErrorCount()

Returns:

Errors -- Count - uint8_t

getErrorEnts

public java.lang.String getErrorEnts()

Returns:

Errors -- Entities - plaintext

getManeuverType

public int getManeuverType()

Returns:

Maneuver -- Type - uint16_t

getManeuverStime

public double getManeuverStime()

Returns:

Maneuver -- Start Time (s) - fp64_t

getManeuverEta

public int getManeuverEta()

Returns:

Maneuver -- ETA (s) - uint16_t

getControlLoops

public long getControlLoops()

Enabled control loops.

Returns:

Control Loops (bitfield) - uint32_t

getFlags

public short getFlags()

Returns:

Flags (bitfield) - uint8_t

getLastError

public java.lang.String getLastError()

Returns:

Last Error -- Description - plaintext

getLastErrorTime

public double getLastErrorTime()

Returns:

Last Error -- Time (s) - fp64_t

setOpMode

public void setOpMode(VehicleState.OP_MODE op_mode)

Parameters:

op_mode - Operation Mode (enumerated)

setOpMode

public void setOpMode(java.lang.String op_mode)

Parameters:

op_mode - Operation Mode (as a String)

setOpMode

public void setOpMode(short op_mode)

Parameters:

op_mode - Operation Mode (integer value)

setErrorCount

public void setErrorCount(short error_count)

Parameters:

error_count - Errors -- Count

setErrorEnts

public void setErrorEnts(java.lang.String error_ents)

Parameters:

error_ents - Errors -- Entities

setManeuverType

public void setManeuverType(int maneuver_type)

Parameters:

maneuver_type - Maneuver -- Type

setManeuverStime

public void setManeuverStime(double maneuver_stime)

Parameters:

maneuver_stime - Maneuver -- Start Time (s)

setManeuverEta

public void setManeuverEta(int maneuver_eta)

Parameters:

maneuver_eta - Maneuver -- ETA (s)

setControlLoops

public void setControlLoops(long control_loops)

Parameters:

control_loops - Control Loops (bitfield)

setFlags

public void setFlags(short flags)

Parameters:

flags - Flags (bitfield)

setLastError

public void setLastError(java.lang.String last_error)

Parameters:

last_error - Last Error -- Description

setLastErrorTime

public void setLastErrorTime(double last_error_time)

Parameters:

last_error_time - Last Error -- Time (s)