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

// MESSAGE COMMAND_ACK PACKING

#define MAVLINK_MSG_ID_COMMAND_ACK 77

typedef struct MAVLINK_PACKED __mavlink_command_ack_t
{
 uint16_t command; /*< Command ID, as defined by MAV_CMD enum.*/
 uint8_t result; /*< See MAV_RESULT enum*/
} mavlink_command_ack_t;

#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3
#define MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN 3
#define MAVLINK_MSG_ID_77_LEN 3
#define MAVLINK_MSG_ID_77_MIN_LEN 3

#define MAVLINK_MSG_ID_COMMAND_ACK_CRC 143
#define MAVLINK_MSG_ID_77_CRC 143



#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
        77, \
        "COMMAND_ACK", \
        2, \
        {  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
         { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
        "COMMAND_ACK", \
        2, \
        {  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
         { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
         } \
}
#endif

/**
 * @brief Pack a command_ack message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 *
 * @param command Command ID, as defined by MAV_CMD enum.
 * @param result See MAV_RESULT enum
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                                                       uint16_t command, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
        _mav_put_uint16_t(buf, 0, command);
        _mav_put_uint8_t(buf, 2, result);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#else
        mavlink_command_ack_t packet;
        packet.command = command;
        packet.result = result;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
    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);
}

/**
 * @brief Pack a command_ack message on a channel
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param command Command ID, as defined by MAV_CMD enum.
 * @param result See MAV_RESULT enum
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                                           mavlink_message_t* msg,
                                                           uint16_t command,uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
        _mav_put_uint16_t(buf, 0, command);
        _mav_put_uint8_t(buf, 2, result);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#else
        mavlink_command_ack_t packet;
        packet.command = command;
        packet.result = result;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
    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);
}

/**
 * @brief Encode a command_ack struct
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 * @param command_ack C-struct to read the message contents from
 */
static 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)
{
        return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
}

/**
 * @brief Encode a command_ack struct on a channel
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param command_ack C-struct to read the message contents from
 */
static 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)
{
        return mavlink_msg_command_ack_pack_chan(system_id, component_id, chan, msg, command_ack->command, command_ack->result);
}

/**
 * @brief Send a command_ack message
 * @param chan MAVLink channel to send the message
 *
 * @param command Command ID, as defined by MAV_CMD enum.
 * @param result See MAV_RESULT enum
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
        _mav_put_uint16_t(buf, 0, command);
        _mav_put_uint8_t(buf, 2, result);

    _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);
#else
        mavlink_command_ack_t packet;
        packet.command = command;
        packet.result = result;

    _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);
#endif
}

/**
 * @brief Send a command_ack message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_command_ack_send_struct(mavlink_channel_t chan, const mavlink_command_ack_t* command_ack)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_command_ack_send(chan, command_ack->command, command_ack->result);
#else
    _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);
#endif
}

#if MAVLINK_MSG_ID_COMMAND_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
  This varient of _send() can be used to save stack space by re-using
  memory from the receive buffer.  The caller provides a
  mavlink_message_t which is the size of a full mavlink message. This
  is usually the receive buffer for the channel, and allows a reply to an
  incoming message with minimum stack space usage.
 */
static inline void mavlink_msg_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t command, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char *buf = (char *)msgbuf;
        _mav_put_uint16_t(buf, 0, command);
        _mav_put_uint8_t(buf, 2, result);

    _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);
#else
        mavlink_command_ack_t *packet = (mavlink_command_ack_t *)msgbuf;
        packet->command = command;
        packet->result = result;

    _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);
#endif
}
#endif

#endif

// MESSAGE COMMAND_ACK UNPACKING


/**
 * @brief Get field command from command_ack message
 *
 * @return Command ID, as defined by MAV_CMD enum.
 */
static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  0);
}

/**
 * @brief Get field result from command_ack message
 *
 * @return See MAV_RESULT enum
 */
static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint8_t(msg,  2);
}

/**
 * @brief Decode a command_ack message into a struct
 *
 * @param msg The message to decode
 * @param command_ack C-struct to decode the message contents into
 */
static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        command_ack->command = mavlink_msg_command_ack_get_command(msg);
        command_ack->result = mavlink_msg_command_ack_get_result(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_COMMAND_ACK_LEN? msg->len : MAVLINK_MSG_ID_COMMAND_ACK_LEN;
        memset(command_ack, 0, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
        memcpy(command_ack, _MAV_PAYLOAD(msg), len);
#endif
}