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

// MESSAGE ENCAPSULATED_DATA PACKING

#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 131

typedef struct MAVLINK_PACKED __mavlink_encapsulated_data_t
{
 uint16_t seqnr; /*< sequence number (starting with 0 on every transmission)*/
 uint8_t data[253]; /*< image data bytes*/
} mavlink_encapsulated_data_t;

#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN 255
#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN 255
#define MAVLINK_MSG_ID_131_LEN 255
#define MAVLINK_MSG_ID_131_MIN_LEN 255

#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC 223
#define MAVLINK_MSG_ID_131_CRC 223

#define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253

#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
        131, \
        "ENCAPSULATED_DATA", \
        2, \
        {  { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
         { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
        "ENCAPSULATED_DATA", \
        2, \
        {  { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
         { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
         } \
}
#endif

/**
 * @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission)
 * @param data image data bytes
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                                                       uint16_t seqnr, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
        _mav_put_uint16_t(buf, 0, seqnr);
        _mav_put_uint8_t_array(buf, 2, data, 253);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
#else
        mavlink_encapsulated_data_t packet;
        packet.seqnr = seqnr;
        mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
}

/**
 * @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission)
 * @param data image data bytes
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                                           mavlink_message_t* msg,
                                                           uint16_t seqnr,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
        _mav_put_uint16_t(buf, 0, seqnr);
        _mav_put_uint8_t_array(buf, 2, data, 253);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
#else
        mavlink_encapsulated_data_t packet;
        packet.seqnr = seqnr;
        mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
}

/**
 * @brief Encode a encapsulated_data 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 encapsulated_data C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
{
        return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data);
}

/**
 * @brief Encode a encapsulated_data 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 encapsulated_data C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_encapsulated_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
{
        return mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, chan, msg, encapsulated_data->seqnr, encapsulated_data->data);
}

/**
 * @brief Send a encapsulated_data message
 * @param chan MAVLink channel to send the message
 *
 * @param seqnr sequence number (starting with 0 on every transmission)
 * @param data image data bytes
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
        _mav_put_uint16_t(buf, 0, seqnr);
        _mav_put_uint8_t_array(buf, 2, data, 253);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
#else
        mavlink_encapsulated_data_t packet;
        packet.seqnr = seqnr;
        mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
#endif
}

/**
 * @brief Send a encapsulated_data message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_encapsulated_data_send_struct(mavlink_channel_t chan, const mavlink_encapsulated_data_t* encapsulated_data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_encapsulated_data_send(chan, encapsulated_data->seqnr, encapsulated_data->data);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)encapsulated_data, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
#endif
}

#if MAVLINK_MSG_ID_ENCAPSULATED_DATA_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_encapsulated_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t seqnr, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char *buf = (char *)msgbuf;
        _mav_put_uint16_t(buf, 0, seqnr);
        _mav_put_uint8_t_array(buf, 2, data, 253);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
#else
        mavlink_encapsulated_data_t *packet = (mavlink_encapsulated_data_t *)msgbuf;
        packet->seqnr = seqnr;
        mav_array_memcpy(packet->data, data, sizeof(uint8_t)*253);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
#endif
}
#endif

#endif

// MESSAGE ENCAPSULATED_DATA UNPACKING


/**
 * @brief Get field seqnr from encapsulated_data message
 *
 * @return sequence number (starting with 0 on every transmission)
 */
static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  0);
}

/**
 * @brief Get field data from encapsulated_data message
 *
 * @return image data bytes
 */
static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t *data)
{
        return _MAV_RETURN_uint8_t_array(msg, data, 253,  2);
}

/**
 * @brief Decode a encapsulated_data message into a struct
 *
 * @param msg The message to decode
 * @param encapsulated_data C-struct to decode the message contents into
 */
static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg);
        mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN? msg->len : MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN;
        memset(encapsulated_data, 0, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
        memcpy(encapsulated_data, _MAV_PAYLOAD(msg), len);
#endif
}