pt.lsts.imc

Class Dislodge

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.Dislodge

All Implemented Interfaces:

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

public class Dislodge
extends Maneuver

IMC Message Dislodge Maneuver (483)
A "Dislodge" is a maneuver ordering the vehicle to attempt a
series of thruster operations that will hopefully get it
unstuck from an entangled condition.
Parameters are RPMs for the motor when attempting dislodge and
and a flag specifying whether the thrust burst should be attempted
forward, backward or auto (letting the vehicle decide).

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Dislodge.DIRECTION

Field Summary

Fields

Modifier and Type	Field and Description
static int	ID_STATIC

Fields inherited from class pt.lsts.imc.IMCMessage

DEFAULT_ENTITY_ID, DEFAULT_SYSTEM_ID

Constructor Summary

Constructors

Constructor and Description
Dislodge()
Dislodge(IMCDefinition defs)
Dislodge(IMCMessage msg)
Dislodge(int timeout, float rpm, Dislodge.DIRECTION direction, java.lang.String custom)

Method Summary

Modifier and Type	Method and Description
static Dislodge	clone(IMCMessage msg)
static Dislodge	create(java.lang.Object... values)
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
Dislodge.DIRECTION	getDirection() Direction to which the vehicle should attempt to unstuck.
double	getRpm()
int	getTimeout()
Dislodge	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
Dislodge	setCustom(java.lang.String custom)
Dislodge	setDirection(Dislodge.DIRECTION direction)
Dislodge	setDirection(short direction)
Dislodge	setDirection(java.lang.String direction)
Dislodge	setRpm(double rpm)
Dislodge	setTimeout(int timeout)

Methods inherited from class pt.lsts.imc.IMCMessage

asJSON, asMap, asXml, asXmlStripped, cloneMessage, cloneMessage, compareTo, copyFrom, 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, getValues, hasFlag, hexdump, isNull, isPeriodic, main, makeImmutable, parseXml, payloadMD5, serialize, serialize, setBitMask, setDst, setDstEnt, setHeader, 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

Constructor Detail

Dislodge

public Dislodge()

Dislodge

public Dislodge(IMCMessage msg)

Dislodge

public Dislodge(IMCDefinition defs)

Dislodge

public Dislodge(int timeout,
                float rpm,
                Dislodge.DIRECTION direction,
                java.lang.String custom)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getTimeout

public int getTimeout()

Returns:

Timeout (s) - uint16_t

getRpm

public double getRpm()

Returns:

RPM - fp32_t

getDirection

public Dislodge.DIRECTION getDirection()

Direction to which the vehicle should attempt to unstuck.

Returns:

Direction (enumerated) - uint8_t

getCustom

public java.util.LinkedHashMap<java.lang.String,java.lang.String> getCustom()

Returns:

Custom settings for maneuver (tuplelist) - plaintext

setTimeout

public Dislodge setTimeout(int timeout)

Parameters:

timeout - Timeout (s)

setRpm

public Dislodge setRpm(double rpm)

Parameters:

rpm - RPM

setDirection

public Dislodge setDirection(Dislodge.DIRECTION direction)

Parameters:

direction - Direction (enumerated)

setDirection

public Dislodge setDirection(java.lang.String direction)

Parameters:

direction - Direction (as a String)

setDirection

public Dislodge setDirection(short direction)

Parameters:

direction - Direction (integer value)

setCustom

public Dislodge setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public Dislodge setCustom(java.lang.String custom)