source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/include/common/mavlink_msg_command_ack.h @ 75

Last change on this file since 75 was 75, checked in by Thomas Fuhrmann, 5 years ago

Change the version of mavlink generated messages and rename it to include

File size: 8.6 KB
Line 
1// MESSAGE COMMAND_ACK PACKING
2
3#define MAVLINK_MSG_ID_COMMAND_ACK 77
4
5typedef struct MAVLINK_PACKED __mavlink_command_ack_t
6{
7 uint16_t command; /*< Command ID, as defined by MAV_CMD enum.*/
8 uint8_t result; /*< See MAV_RESULT enum*/
9} mavlink_command_ack_t;
10
11#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3
12#define MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN 3
13#define MAVLINK_MSG_ID_77_LEN 3
14#define MAVLINK_MSG_ID_77_MIN_LEN 3
15
16#define MAVLINK_MSG_ID_COMMAND_ACK_CRC 143
17#define MAVLINK_MSG_ID_77_CRC 143
18
19
20
21#if MAVLINK_COMMAND_24BIT
22#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
23        77, \
24        "COMMAND_ACK", \
25        2, \
26        {  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
27         { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
28         } \
29}
30#else
31#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
32        "COMMAND_ACK", \
33        2, \
34        {  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
35         { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
36         } \
37}
38#endif
39
40/**
41 * @brief Pack a command_ack message
42 * @param system_id ID of this system
43 * @param component_id ID of this component (e.g. 200 for IMU)
44 * @param msg The MAVLink message to compress the data into
45 *
46 * @param command Command ID, as defined by MAV_CMD enum.
47 * @param result See MAV_RESULT enum
48 * @return length of the message in bytes (excluding serial stream start sign)
49 */
50static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
51                                                       uint16_t command, uint8_t result)
52{
53#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
54        char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
55        _mav_put_uint16_t(buf, 0, command);
56        _mav_put_uint8_t(buf, 2, result);
57
58        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
59#else
60        mavlink_command_ack_t packet;
61        packet.command = command;
62        packet.result = result;
63
64        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
65#endif
66
67        msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
68    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
69}
70
71/**
72 * @brief Pack a command_ack message on a channel
73 * @param system_id ID of this system
74 * @param component_id ID of this component (e.g. 200 for IMU)
75 * @param chan The MAVLink channel this message will be sent over
76 * @param msg The MAVLink message to compress the data into
77 * @param command Command ID, as defined by MAV_CMD enum.
78 * @param result See MAV_RESULT enum
79 * @return length of the message in bytes (excluding serial stream start sign)
80 */
81static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
82                                                           mavlink_message_t* msg,
83                                                           uint16_t command,uint8_t result)
84{
85#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
86        char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
87        _mav_put_uint16_t(buf, 0, command);
88        _mav_put_uint8_t(buf, 2, result);
89
90        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
91#else
92        mavlink_command_ack_t packet;
93        packet.command = command;
94        packet.result = result;
95
96        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
97#endif
98
99        msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
100    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
101}
102
103/**
104 * @brief Encode a command_ack struct
105 *
106 * @param system_id ID of this system
107 * @param component_id ID of this component (e.g. 200 for IMU)
108 * @param msg The MAVLink message to compress the data into
109 * @param command_ack C-struct to read the message contents from
110 */
111static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
112{
113        return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
114}
115
116/**
117 * @brief Encode a command_ack struct on a channel
118 *
119 * @param system_id ID of this system
120 * @param component_id ID of this component (e.g. 200 for IMU)
121 * @param chan The MAVLink channel this message will be sent over
122 * @param msg The MAVLink message to compress the data into
123 * @param command_ack C-struct to read the message contents from
124 */
125static inline uint16_t mavlink_msg_command_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
126{
127        return mavlink_msg_command_ack_pack_chan(system_id, component_id, chan, msg, command_ack->command, command_ack->result);
128}
129
130/**
131 * @brief Send a command_ack message
132 * @param chan MAVLink channel to send the message
133 *
134 * @param command Command ID, as defined by MAV_CMD enum.
135 * @param result See MAV_RESULT enum
136 */
137#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
138
139static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result)
140{
141#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
142        char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
143        _mav_put_uint16_t(buf, 0, command);
144        _mav_put_uint8_t(buf, 2, result);
145
146    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
147#else
148        mavlink_command_ack_t packet;
149        packet.command = command;
150        packet.result = result;
151
152    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
153#endif
154}
155
156/**
157 * @brief Send a command_ack message
158 * @param chan MAVLink channel to send the message
159 * @param struct The MAVLink struct to serialize
160 */
161static inline void mavlink_msg_command_ack_send_struct(mavlink_channel_t chan, const mavlink_command_ack_t* command_ack)
162{
163#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
164    mavlink_msg_command_ack_send(chan, command_ack->command, command_ack->result);
165#else
166    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)command_ack, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
167#endif
168}
169
170#if MAVLINK_MSG_ID_COMMAND_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
171/*
172  This varient of _send() can be used to save stack space by re-using
173  memory from the receive buffer.  The caller provides a
174  mavlink_message_t which is the size of a full mavlink message. This
175  is usually the receive buffer for the channel, and allows a reply to an
176  incoming message with minimum stack space usage.
177 */
178static inline void mavlink_msg_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t command, uint8_t result)
179{
180#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
181        char *buf = (char *)msgbuf;
182        _mav_put_uint16_t(buf, 0, command);
183        _mav_put_uint8_t(buf, 2, result);
184
185    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
186#else
187        mavlink_command_ack_t *packet = (mavlink_command_ack_t *)msgbuf;
188        packet->command = command;
189        packet->result = result;
190
191    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
192#endif
193}
194#endif
195
196#endif
197
198// MESSAGE COMMAND_ACK UNPACKING
199
200
201/**
202 * @brief Get field command from command_ack message
203 *
204 * @return Command ID, as defined by MAV_CMD enum.
205 */
206static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
207{
208        return _MAV_RETURN_uint16_t(msg,  0);
209}
210
211/**
212 * @brief Get field result from command_ack message
213 *
214 * @return See MAV_RESULT enum
215 */
216static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
217{
218        return _MAV_RETURN_uint8_t(msg,  2);
219}
220
221/**
222 * @brief Decode a command_ack message into a struct
223 *
224 * @param msg The message to decode
225 * @param command_ack C-struct to decode the message contents into
226 */
227static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
228{
229#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
230        command_ack->command = mavlink_msg_command_ack_get_command(msg);
231        command_ack->result = mavlink_msg_command_ack_get_result(msg);
232#else
233        uint8_t len = msg->len < MAVLINK_MSG_ID_COMMAND_ACK_LEN? msg->len : MAVLINK_MSG_ID_COMMAND_ACK_LEN;
234        memset(command_ack, 0, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
235        memcpy(command_ack, _MAV_PAYLOAD(msg), len);
236#endif
237}
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