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_FORCE
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(IMCMessage msg)
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()
short	getErrorCount()
java.lang.String	getErrorEnts()
short	getFlags()
java.lang.String	getLastError()
double	getLastErrorTime()
int	getManeuverEta()
double	getManeuverStime()
int	getManeuverType()
VehicleState.OP_MODE	getOpMode()
java.lang.String	getOpModeStr()
short	getOpModeVal()
VehicleState	setControlLoops(long control_loops)
VehicleState	setErrorCount(short error_count)
VehicleState	setErrorEnts(java.lang.String error_ents)
VehicleState	setFlags(short flags)
VehicleState	setLastError(java.lang.String last_error)
VehicleState	setLastErrorTime(double last_error_time)
VehicleState	setManeuverEta(int maneuver_eta)
VehicleState	setManeuverStime(double maneuver_stime)
VehicleState	setManeuverType(int maneuver_type)
VehicleState	setOpMode(VehicleState.OP_MODE op_mode)
VehicleState	setOpModeStr(java.lang.String op_mode)
VehicleState	setOpModeVal(short op_mode)

Methods inherited from class pt.lsts.imc.IMCMessage

asJSON, asJSON, asMap, asXml, asXmlStripped, cloneMessage, cloneMessage, compareTo, copyFrom, decodeTupleList, dump, encodeTupleList, get, getAbbrev, getAgeInSeconds, getAsNumber, getAsString, getBitmask, getDate, getDouble, getDst, getDstEnt, getEntityName, getFieldNames, getFloat, getHeader, getHeaderValue, getInteger, getLong, getLongFieldName, getLongName, getMessage, getMessage, getMessageInfo, 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, parseJson, parseXml, payloadMD5, serialize, serialize, serialize, serializePayload, setBitMask, setDst, setDstEnt, setHeader, setMessageInfo, 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

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_FORCE

public static final long CL_FORCE

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

ID_STATIC

public static final int ID_STATIC

See Also:

Constant Field Values

Constructor Detail

VehicleState

public VehicleState()

VehicleState

public VehicleState(IMCMessage msg)

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()

Returns:

Operation Mode (enumerated) - uint8_t

getOpModeStr

public java.lang.String getOpModeStr()

getOpModeVal

public short getOpModeVal()

setOpMode

public VehicleState setOpMode(VehicleState.OP_MODE op_mode)

Parameters:

op_mode - Operation Mode (enumerated)

setOpModeStr

public VehicleState setOpModeStr(java.lang.String op_mode)

Parameters:

op_mode - Operation Mode (as a String)

setOpModeVal

public VehicleState setOpModeVal(short op_mode)

Parameters:

op_mode - Operation Mode (integer value)

getErrorCount

public short getErrorCount()

Returns:

Errors -- Count - uint8_t

setErrorCount

public VehicleState setErrorCount(short error_count)

Parameters:

error_count - Errors -- Count

getErrorEnts

public java.lang.String getErrorEnts()

Returns:

Errors -- Entities - plaintext

setErrorEnts

public VehicleState setErrorEnts(java.lang.String error_ents)

Parameters:

error_ents - Errors -- Entities

getManeuverType

public int getManeuverType()

Returns:

Maneuver -- Type - uint16_t

setManeuverType

public VehicleState setManeuverType(int maneuver_type)

Parameters:

maneuver_type - Maneuver -- Type

getManeuverStime

public double getManeuverStime()

Returns:

Maneuver -- Start Time (s) - fp64_t

setManeuverStime

public VehicleState setManeuverStime(double maneuver_stime)

Parameters:

maneuver_stime - Maneuver -- Start Time (s)

getManeuverEta

public int getManeuverEta()

Returns:

Maneuver -- ETA (s) - uint16_t

setManeuverEta

public VehicleState setManeuverEta(int maneuver_eta)

Parameters:

maneuver_eta - Maneuver -- ETA (s)

getControlLoops

public long getControlLoops()

Returns:

Control Loops (bitfield) - uint32_t

setControlLoops

public VehicleState setControlLoops(long control_loops)

Parameters:

control_loops - Control Loops (bitfield)

getFlags

public short getFlags()

Returns:

Flags (bitfield) - uint8_t

setFlags

public VehicleState setFlags(short flags)

Parameters:

flags - Flags (bitfield)

getLastError

public java.lang.String getLastError()

Returns:

Last Error -- Description - plaintext

setLastError

public VehicleState setLastError(java.lang.String last_error)

Parameters:

last_error - Last Error -- Description

getLastErrorTime

public double getLastErrorTime()

Returns:

Last Error -- Time (s) - fp64_t

setLastErrorTime

public VehicleState setLastErrorTime(double last_error_time)

Parameters:

last_error_time - Last Error -- Time (s)