pt.lsts.imc

Class StationKeepingExtended

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.StationKeepingExtended

All Implemented Interfaces:

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

public class StationKeepingExtended
extends Maneuver

IMC Message Station Keeping Extended (496)
The Station Keeping Extended maneuver makes the vehicle come to the surface
and then enter a given circular perimeter around a waypoint coordinate
for a certain amount of time. It extends the Station Keeping maneuver with the feature
'Keep Safe', which allows for the vehicle to hold position underwater and popup periodically
to communicate.

Field Summary

Fields

Modifier and Type	Field and Description
static short	FLG_KEEP_SAFE
static int	ID_STATIC

Fields inherited from class pt.lsts.imc.IMCMessage

DEFAULT_ENTITY_ID, DEFAULT_SYSTEM_ID

Constructor Summary

Constructors

Constructor and Description
StationKeepingExtended()
StationKeepingExtended(double lat, double lon, float z, pt.lsts.imc.def.ZUnits z_units, float radius, int duration, float speed, pt.lsts.imc.def.SpeedUnits speed_units, int popup_period, int popup_duration, short flags, java.lang.String custom)
StationKeepingExtended(IMCDefinition defs)
StationKeepingExtended(IMCMessage msg)

Method Summary

Modifier and Type	Method and Description
static StationKeepingExtended	clone(IMCMessage msg)
static StationKeepingExtended	create(java.lang.Object... values)
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
int	getDuration()
short	getFlags()
double	getLat()
double	getLon()
int	getPopupDuration()
int	getPopupPeriod()
double	getRadius()
double	getSpeed()
pt.lsts.imc.def.SpeedUnits	getSpeedUnits()
java.lang.String	getSpeedUnitsStr()
short	getSpeedUnitsVal()
double	getZ()
pt.lsts.imc.def.ZUnits	getZUnits()
java.lang.String	getZUnitsStr()
short	getZUnitsVal()
StationKeepingExtended	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
StationKeepingExtended	setCustom(java.lang.String custom)
StationKeepingExtended	setDuration(int duration)
StationKeepingExtended	setFlags(short flags)
StationKeepingExtended	setLat(double lat)
StationKeepingExtended	setLon(double lon)
StationKeepingExtended	setPopupDuration(int popup_duration)
StationKeepingExtended	setPopupPeriod(int popup_period)
StationKeepingExtended	setRadius(double radius)
StationKeepingExtended	setSpeed(double speed)
StationKeepingExtended	setSpeedUnits(pt.lsts.imc.def.SpeedUnits speed_units)
StationKeepingExtended	setSpeedUnitsStr(java.lang.String speed_units)
StationKeepingExtended	setSpeedUnitsVal(short speed_units)
StationKeepingExtended	setZ(double z)
StationKeepingExtended	setZUnits(pt.lsts.imc.def.ZUnits z_units)
StationKeepingExtended	setZUnitsStr(java.lang.String z_units)
StationKeepingExtended	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

FLG_KEEP_SAFE

public static final short FLG_KEEP_SAFE

See Also:

Constant Field Values

ID_STATIC

public static final int ID_STATIC

See Also:

Constant Field Values

Constructor Detail

StationKeepingExtended

public StationKeepingExtended()

StationKeepingExtended

public StationKeepingExtended(IMCMessage msg)

StationKeepingExtended

public StationKeepingExtended(IMCDefinition defs)

StationKeepingExtended

public StationKeepingExtended(double lat,
                              double lon,
                              float z,
                              pt.lsts.imc.def.ZUnits z_units,
                              float radius,
                              int duration,
                              float speed,
                              pt.lsts.imc.def.SpeedUnits speed_units,
                              int popup_period,
                              int popup_duration,
                              short flags,
                              java.lang.String custom)

Method Detail

create

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

clone

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

Throws:

java.lang.Exception

getLat

public double getLat()

Returns:

Latitude WGS-84 (rad) - fp64_t

setLat

public StationKeepingExtended setLat(double lat)

Parameters:

lat - Latitude WGS-84 (rad)

getLon

public double getLon()

Returns:

Longitude WGS-84 (rad) - fp64_t

setLon

public StationKeepingExtended setLon(double lon)

Parameters:

lon - Longitude WGS-84 (rad)

getZ

public double getZ()

Returns:

Z Reference (m) - fp32_t

setZ

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

Parameters:

z_units - Z Units (enumerated)

setZUnitsStr

public StationKeepingExtended setZUnitsStr(java.lang.String z_units)

Parameters:

z_units - Z Units (as a String)

setZUnitsVal

public StationKeepingExtended setZUnitsVal(short z_units)

Parameters:

z_units - Z Units (integer value)

getRadius

public double getRadius()

Returns:

Radius (m) - fp32_t

setRadius

public StationKeepingExtended setRadius(double radius)

Parameters:

radius - Radius (m)

getDuration

public int getDuration()

Returns:

Duration (s) - uint16_t

setDuration

public StationKeepingExtended setDuration(int duration)

Parameters:

duration - Duration (s)

getSpeed

public double getSpeed()

Returns:

Speed - fp32_t

setSpeed

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

Parameters:

speed_units - Speed Units (enumerated)

setSpeedUnitsStr

public StationKeepingExtended setSpeedUnitsStr(java.lang.String speed_units)

Parameters:

speed_units - Speed Units (as a String)

setSpeedUnitsVal

public StationKeepingExtended setSpeedUnitsVal(short speed_units)

Parameters:

speed_units - Speed Units (integer value)

getPopupPeriod

public int getPopupPeriod()

Returns:

PopUp Period (s) - uint16_t

setPopupPeriod

public StationKeepingExtended setPopupPeriod(int popup_period)

Parameters:

popup_period - PopUp Period (s)

getPopupDuration

public int getPopupDuration()

Returns:

PopUp Duration (s) - uint16_t

setPopupDuration

public StationKeepingExtended setPopupDuration(int popup_duration)

Parameters:

popup_duration - PopUp Duration (s)

getFlags

public short getFlags()

Returns:

Flags (bitfield) - uint8_t

setFlags

public StationKeepingExtended setFlags(short flags)

Parameters:

flags - Flags (bitfield)

getCustom

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

Returns:

Custom settings for maneuver (tuplelist) - plaintext

setCustom

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

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public StationKeepingExtended setCustom(java.lang.String custom)