pt.lsts.imc

Class FormationPlanExecution

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.FormationPlanExecution

All Implemented Interfaces:

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

public class FormationPlanExecution
extends Maneuver

IMC Message Formation Plan Execution (477)
A "Formation Plan" is a maneuver specifying a plan for a team of vehicles.
The maneuver defines:
- Vehicles included in the formation group
- Formation shape configuration
- Plan (set of maneuvers) to be followed by the formation center
- Speed at which that plan is followed
- Path contrains (virtual leader bank limit)
- Supervision settings

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
FormationPlanExecution()
FormationPlanExecution(IMCDefinition defs)
FormationPlanExecution(IMCMessage msg)
FormationPlanExecution(java.lang.String group_name, java.lang.String formation_name, java.lang.String plan_id, java.lang.String description, float leader_speed, float leader_bank_lim, float pos_sim_err_lim, float pos_sim_err_wrn, int pos_sim_err_timeout, float converg_max, int converg_timeout, int comms_timeout, float turb_lim, java.lang.String custom)

Method Summary

Modifier and Type	Method and Description
static FormationPlanExecution	clone(IMCMessage msg)
static FormationPlanExecution	create(java.lang.Object... values)
int	getCommsTimeout()
double	getConvergMax()
int	getConvergTimeout()
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
java.lang.String	getDescription()
java.lang.String	getFormationName()
java.lang.String	getGroupName()
double	getLeaderBankLim()
double	getLeaderSpeed()
java.lang.String	getPlanId()
double	getPosSimErrLim()
int	getPosSimErrTimeout()
double	getPosSimErrWrn()
double	getTurbLim()
FormationPlanExecution	setCommsTimeout(int comms_timeout)
FormationPlanExecution	setConvergMax(double converg_max)
FormationPlanExecution	setConvergTimeout(int converg_timeout)
FormationPlanExecution	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
FormationPlanExecution	setCustom(java.lang.String custom)
FormationPlanExecution	setDescription(java.lang.String description)
FormationPlanExecution	setFormationName(java.lang.String formation_name)
FormationPlanExecution	setGroupName(java.lang.String group_name)
FormationPlanExecution	setLeaderBankLim(double leader_bank_lim)
FormationPlanExecution	setLeaderSpeed(double leader_speed)
FormationPlanExecution	setPlanId(java.lang.String plan_id)
FormationPlanExecution	setPosSimErrLim(double pos_sim_err_lim)
FormationPlanExecution	setPosSimErrTimeout(int pos_sim_err_timeout)
FormationPlanExecution	setPosSimErrWrn(double pos_sim_err_wrn)
FormationPlanExecution	setTurbLim(double turb_lim)

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

ID_STATIC

public static final int ID_STATIC

See Also:

Constant Field Values

Constructor Detail

FormationPlanExecution

public FormationPlanExecution()

FormationPlanExecution

public FormationPlanExecution(IMCMessage msg)

FormationPlanExecution

public FormationPlanExecution(IMCDefinition defs)

FormationPlanExecution

public FormationPlanExecution(java.lang.String group_name,
                              java.lang.String formation_name,
                              java.lang.String plan_id,
                              java.lang.String description,
                              float leader_speed,
                              float leader_bank_lim,
                              float pos_sim_err_lim,
                              float pos_sim_err_wrn,
                              int pos_sim_err_timeout,
                              float converg_max,
                              int converg_timeout,
                              int comms_timeout,
                              float turb_lim,
                              java.lang.String custom)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getGroupName

public java.lang.String getGroupName()

Returns:

Target Group Name - plaintext

setGroupName

public FormationPlanExecution setGroupName(java.lang.String group_name)

Parameters:

group_name - Target Group Name

getFormationName

public java.lang.String getFormationName()

Returns:

Formation Name - plaintext

setFormationName

public FormationPlanExecution setFormationName(java.lang.String formation_name)

Parameters:

formation_name - Formation Name

getPlanId

public java.lang.String getPlanId()

Returns:

Formation Plan ID - plaintext

setPlanId

public FormationPlanExecution setPlanId(java.lang.String plan_id)

Parameters:

plan_id - Formation Plan ID

getDescription

public java.lang.String getDescription()

Returns:

Plan Description - plaintext

setDescription

public FormationPlanExecution setDescription(java.lang.String description)

Parameters:

description - Plan Description

getLeaderSpeed

public double getLeaderSpeed()

Returns:

Formation Leader Flight Airspeed (m/s) - fp32_t

setLeaderSpeed

public FormationPlanExecution setLeaderSpeed(double leader_speed)

Parameters:

leader_speed - Formation Leader Flight Airspeed (m/s)

getLeaderBankLim

public double getLeaderBankLim()

Returns:

Formation leader flight bank limit (m/s) - fp32_t

setLeaderBankLim

public FormationPlanExecution setLeaderBankLim(double leader_bank_lim)

Parameters:

leader_bank_lim - Formation leader flight bank limit (m/s)

getPosSimErrLim

public double getPosSimErrLim()

Returns:

Position mismatch limit (m) - fp32_t

setPosSimErrLim

public FormationPlanExecution setPosSimErrLim(double pos_sim_err_lim)

Parameters:

pos_sim_err_lim - Position mismatch limit (m)

getPosSimErrWrn

public double getPosSimErrWrn()

Returns:

Position mismatch threshold (m) - fp32_t

setPosSimErrWrn

public FormationPlanExecution setPosSimErrWrn(double pos_sim_err_wrn)

Parameters:

pos_sim_err_wrn - Position mismatch threshold (m)

getPosSimErrTimeout

public int getPosSimErrTimeout()

Returns:

Position mismatch time-out (s) - uint16_t

setPosSimErrTimeout

public FormationPlanExecution setPosSimErrTimeout(int pos_sim_err_timeout)

Parameters:

pos_sim_err_timeout - Position mismatch time-out (s)

getConvergMax

public double getConvergMax()

Returns:

Convergence threshold (m) - fp32_t

setConvergMax

public FormationPlanExecution setConvergMax(double converg_max)

Parameters:

converg_max - Convergence threshold (m)

getConvergTimeout

public int getConvergTimeout()

Returns:

Convergence time-out (s) - uint16_t

setConvergTimeout

public FormationPlanExecution setConvergTimeout(int converg_timeout)

Parameters:

converg_timeout - Convergence time-out (s)

getCommsTimeout

public int getCommsTimeout()

Returns:

Communications time-out (s) - uint16_t

setCommsTimeout

public FormationPlanExecution setCommsTimeout(int comms_timeout)

Parameters:

comms_timeout - Communications time-out (s)

getTurbLim

public double getTurbLim()

Returns:

Turbulence limit (m/s) - fp32_t

setTurbLim

public FormationPlanExecution setTurbLim(double turb_lim)

Parameters:

turb_lim - Turbulence limit (m/s)

getCustom

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

Returns:

Custom settings for maneuver (tuplelist) - plaintext

setCustom

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

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public FormationPlanExecution setCustom(java.lang.String custom)