pt.lsts.imc

Class Sample

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.Sample

All Implemented Interfaces:

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

public class Sample
extends Maneuver

IMC Message Sample Maneuver (489)
A "Sample" is a maneuver specifying a movement of the vehicle to a
target waypoint. The waypoint is described by the WGS-84
waypoint coordinate and target Z reference.
Mandatory parameters defined for a "Goto" are
timeout, speed and speed units.

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
Sample()
Sample(IMCDefinition defs)
Sample(IMCMessage msg)
Sample(int timeout, double lat, double lon, float z, pt.lsts.imc.def.ZUnits z_units, float speed, pt.lsts.imc.def.SpeedUnits speed_units, pt.lsts.imc.def.Boolean syringe0, pt.lsts.imc.def.Boolean syringe1, pt.lsts.imc.def.Boolean syringe2, java.lang.String custom)

Method Summary

Modifier and Type	Method and Description
static Sample	clone(IMCMessage msg)
static Sample	create(java.lang.Object... values)
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
double	getLat()
double	getLon()
double	getSpeed()
pt.lsts.imc.def.SpeedUnits	getSpeedUnits()
java.lang.String	getSpeedUnitsStr()
short	getSpeedUnitsVal()
pt.lsts.imc.def.Boolean	getSyringe0()
java.lang.String	getSyringe0Str()
short	getSyringe0Val()
pt.lsts.imc.def.Boolean	getSyringe1()
java.lang.String	getSyringe1Str()
short	getSyringe1Val()
pt.lsts.imc.def.Boolean	getSyringe2()
java.lang.String	getSyringe2Str()
short	getSyringe2Val()
int	getTimeout()
double	getZ()
pt.lsts.imc.def.ZUnits	getZUnits()
java.lang.String	getZUnitsStr()
short	getZUnitsVal()
Sample	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
Sample	setCustom(java.lang.String custom)
Sample	setLat(double lat)
Sample	setLon(double lon)
Sample	setSpeed(double speed)
Sample	setSpeedUnits(pt.lsts.imc.def.SpeedUnits speed_units)
Sample	setSpeedUnitsStr(java.lang.String speed_units)
Sample	setSpeedUnitsVal(short speed_units)
Sample	setSyringe0(pt.lsts.imc.def.Boolean syringe0)
Sample	setSyringe0Str(java.lang.String syringe0)
Sample	setSyringe0Val(short syringe0)
Sample	setSyringe1(pt.lsts.imc.def.Boolean syringe1)
Sample	setSyringe1Str(java.lang.String syringe1)
Sample	setSyringe1Val(short syringe1)
Sample	setSyringe2(pt.lsts.imc.def.Boolean syringe2)
Sample	setSyringe2Str(java.lang.String syringe2)
Sample	setSyringe2Val(short syringe2)
Sample	setTimeout(int timeout)
Sample	setZ(double z)
Sample	setZUnits(pt.lsts.imc.def.ZUnits z_units)
Sample	setZUnitsStr(java.lang.String z_units)
Sample	setZUnitsVal(short z_units)

Methods inherited from class pt.lsts.imc.IMCMessage

asJSON, asJSON, asMap, asXml, asXmlStripped, cloneMessage, cloneMessage, compareTo, copyFrom, copyToClipoard, 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, makeImmutable, parseJson, parseXml, pasteFromClipoard, payloadMD5, serialize, serialize, serialize, serializePayload, setBitMask, setDst, setDstEnt, setHeader, setMessageInfo, setMessageList, setSrc, setSrcEnt, setTimestamp, setTimestampMillis, setType, setValue, setValues, toByteArray, toByteArray, 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

Sample

public Sample()

Sample

public Sample(IMCMessage msg)

Sample

public Sample(IMCDefinition defs)

Sample

public Sample(int timeout,
              double lat,
              double lon,
              float z,
              pt.lsts.imc.def.ZUnits z_units,
              float speed,
              pt.lsts.imc.def.SpeedUnits speed_units,
              pt.lsts.imc.def.Boolean syringe0,
              pt.lsts.imc.def.Boolean syringe1,
              pt.lsts.imc.def.Boolean syringe2,
              java.lang.String custom)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getTimeout

public int getTimeout()

Returns:

Timeout (s) - uint16_t

setTimeout

public Sample setTimeout(int timeout)

Parameters:

timeout - Timeout (s)

getLat

public double getLat()

Returns:

Latitude WGS-84 (rad) - fp64_t

setLat

public Sample setLat(double lat)

Parameters:

lat - Latitude WGS-84 (rad)

getLon

public double getLon()

Returns:

Longitude WGS-84 (rad) - fp64_t

setLon

public Sample setLon(double lon)

Parameters:

lon - Longitude WGS-84 (rad)

getZ

public double getZ()

Returns:

Z Reference (m) - fp32_t

setZ

public Sample setZ(double z)

Parameters:

z - Z Reference (m)

getZUnits

public pt.lsts.imc.def.ZUnits getZUnits()

Returns:

Z Units (enumerated) - uint8_t

getZUnitsStr

public java.lang.String getZUnitsStr()

getZUnitsVal

public short getZUnitsVal()

setZUnits

public Sample setZUnits(pt.lsts.imc.def.ZUnits z_units)

Parameters:

z_units - Z Units (enumerated)

setZUnitsStr

public Sample setZUnitsStr(java.lang.String z_units)

Parameters:

z_units - Z Units (as a String)

setZUnitsVal

public Sample setZUnitsVal(short z_units)

Parameters:

z_units - Z Units (integer value)

getSpeed

public double getSpeed()

Returns:

Speed - fp32_t

setSpeed

public Sample setSpeed(double speed)

Parameters:

speed - Speed

getSpeedUnits

public pt.lsts.imc.def.SpeedUnits getSpeedUnits()

Returns:

Speed Units (enumerated) - uint8_t

getSpeedUnitsStr

public java.lang.String getSpeedUnitsStr()

getSpeedUnitsVal

public short getSpeedUnitsVal()

setSpeedUnits

public Sample setSpeedUnits(pt.lsts.imc.def.SpeedUnits speed_units)

Parameters:

speed_units - Speed Units (enumerated)

setSpeedUnitsStr

public Sample setSpeedUnitsStr(java.lang.String speed_units)

Parameters:

speed_units - Speed Units (as a String)

setSpeedUnitsVal

public Sample setSpeedUnitsVal(short speed_units)

Parameters:

speed_units - Speed Units (integer value)

getSyringe0

public pt.lsts.imc.def.Boolean getSyringe0()

Returns:

Syringe0 (enumerated) - uint8_t

getSyringe0Str

public java.lang.String getSyringe0Str()

getSyringe0Val

public short getSyringe0Val()

setSyringe0

public Sample setSyringe0(pt.lsts.imc.def.Boolean syringe0)

Parameters:

syringe0 - Syringe0 (enumerated)

setSyringe0Str

public Sample setSyringe0Str(java.lang.String syringe0)

Parameters:

syringe0 - Syringe0 (as a String)

setSyringe0Val

public Sample setSyringe0Val(short syringe0)

Parameters:

syringe0 - Syringe0 (integer value)

getSyringe1

public pt.lsts.imc.def.Boolean getSyringe1()

Returns:

Syringe1 (enumerated) - uint8_t

getSyringe1Str

public java.lang.String getSyringe1Str()

getSyringe1Val

public short getSyringe1Val()

setSyringe1

public Sample setSyringe1(pt.lsts.imc.def.Boolean syringe1)

Parameters:

syringe1 - Syringe1 (enumerated)

setSyringe1Str

public Sample setSyringe1Str(java.lang.String syringe1)

Parameters:

syringe1 - Syringe1 (as a String)

setSyringe1Val

public Sample setSyringe1Val(short syringe1)

Parameters:

syringe1 - Syringe1 (integer value)

getSyringe2

public pt.lsts.imc.def.Boolean getSyringe2()

Returns:

Syringe2 (enumerated) - uint8_t

getSyringe2Str

public java.lang.String getSyringe2Str()

getSyringe2Val

public short getSyringe2Val()

setSyringe2

public Sample setSyringe2(pt.lsts.imc.def.Boolean syringe2)

Parameters:

syringe2 - Syringe2 (enumerated)

setSyringe2Str

public Sample setSyringe2Str(java.lang.String syringe2)

Parameters:

syringe2 - Syringe2 (as a String)

setSyringe2Val

public Sample setSyringe2Val(short syringe2)

Parameters:

syringe2 - Syringe2 (integer value)

getCustom

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

Returns:

Custom settings for maneuver (tuplelist) - plaintext

setCustom

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

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public Sample setCustom(java.lang.String custom)