source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/include/common/mavlink_msg_param_value.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: 13.9 KB
Line 
1// MESSAGE PARAM_VALUE PACKING
2
3#define MAVLINK_MSG_ID_PARAM_VALUE 22
4
5typedef struct MAVLINK_PACKED __mavlink_param_value_t
6{
7 float param_value; /*< Onboard parameter value*/
8 uint16_t param_count; /*< Total number of onboard parameters*/
9 uint16_t param_index; /*< Index of this onboard parameter*/
10 char param_id[16]; /*< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string*/
11 uint8_t param_type; /*< Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.*/
12} mavlink_param_value_t;
13
14#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 25
15#define MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN 25
16#define MAVLINK_MSG_ID_22_LEN 25
17#define MAVLINK_MSG_ID_22_MIN_LEN 25
18
19#define MAVLINK_MSG_ID_PARAM_VALUE_CRC 220
20#define MAVLINK_MSG_ID_22_CRC 220
21
22#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16
23
24#if MAVLINK_COMMAND_24BIT
25#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
26        22, \
27        "PARAM_VALUE", \
28        5, \
29        {  { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \
30         { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \
31         { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \
32         { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \
33         { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \
34         } \
35}
36#else
37#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
38        "PARAM_VALUE", \
39        5, \
40        {  { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \
41         { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \
42         { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \
43         { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \
44         { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \
45         } \
46}
47#endif
48
49/**
50 * @brief Pack a param_value message
51 * @param system_id ID of this system
52 * @param component_id ID of this component (e.g. 200 for IMU)
53 * @param msg The MAVLink message to compress the data into
54 *
55 * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
56 * @param param_value Onboard parameter value
57 * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
58 * @param param_count Total number of onboard parameters
59 * @param param_index Index of this onboard parameter
60 * @return length of the message in bytes (excluding serial stream start sign)
61 */
62static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
63                                                       const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
64{
65#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
66        char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
67        _mav_put_float(buf, 0, param_value);
68        _mav_put_uint16_t(buf, 4, param_count);
69        _mav_put_uint16_t(buf, 6, param_index);
70        _mav_put_uint8_t(buf, 24, param_type);
71        _mav_put_char_array(buf, 8, param_id, 16);
72        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
73#else
74        mavlink_param_value_t packet;
75        packet.param_value = param_value;
76        packet.param_count = param_count;
77        packet.param_index = param_index;
78        packet.param_type = param_type;
79        mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
80        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
81#endif
82
83        msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
84    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
85}
86
87/**
88 * @brief Pack a param_value message on a channel
89 * @param system_id ID of this system
90 * @param component_id ID of this component (e.g. 200 for IMU)
91 * @param chan The MAVLink channel this message will be sent over
92 * @param msg The MAVLink message to compress the data into
93 * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
94 * @param param_value Onboard parameter value
95 * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
96 * @param param_count Total number of onboard parameters
97 * @param param_index Index of this onboard parameter
98 * @return length of the message in bytes (excluding serial stream start sign)
99 */
100static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
101                                                           mavlink_message_t* msg,
102                                                           const char *param_id,float param_value,uint8_t param_type,uint16_t param_count,uint16_t param_index)
103{
104#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
105        char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
106        _mav_put_float(buf, 0, param_value);
107        _mav_put_uint16_t(buf, 4, param_count);
108        _mav_put_uint16_t(buf, 6, param_index);
109        _mav_put_uint8_t(buf, 24, param_type);
110        _mav_put_char_array(buf, 8, param_id, 16);
111        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
112#else
113        mavlink_param_value_t packet;
114        packet.param_value = param_value;
115        packet.param_count = param_count;
116        packet.param_index = param_index;
117        packet.param_type = param_type;
118        mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
119        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
120#endif
121
122        msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
123    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
124}
125
126/**
127 * @brief Encode a param_value struct
128 *
129 * @param system_id ID of this system
130 * @param component_id ID of this component (e.g. 200 for IMU)
131 * @param msg The MAVLink message to compress the data into
132 * @param param_value C-struct to read the message contents from
133 */
134static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
135{
136        return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
137}
138
139/**
140 * @brief Encode a param_value struct on a channel
141 *
142 * @param system_id ID of this system
143 * @param component_id ID of this component (e.g. 200 for IMU)
144 * @param chan The MAVLink channel this message will be sent over
145 * @param msg The MAVLink message to compress the data into
146 * @param param_value C-struct to read the message contents from
147 */
148static inline uint16_t mavlink_msg_param_value_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
149{
150        return mavlink_msg_param_value_pack_chan(system_id, component_id, chan, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
151}
152
153/**
154 * @brief Send a param_value message
155 * @param chan MAVLink channel to send the message
156 *
157 * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
158 * @param param_value Onboard parameter value
159 * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
160 * @param param_count Total number of onboard parameters
161 * @param param_index Index of this onboard parameter
162 */
163#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
164
165static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
166{
167#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
168        char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
169        _mav_put_float(buf, 0, param_value);
170        _mav_put_uint16_t(buf, 4, param_count);
171        _mav_put_uint16_t(buf, 6, param_index);
172        _mav_put_uint8_t(buf, 24, param_type);
173        _mav_put_char_array(buf, 8, param_id, 16);
174    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
175#else
176        mavlink_param_value_t packet;
177        packet.param_value = param_value;
178        packet.param_count = param_count;
179        packet.param_index = param_index;
180        packet.param_type = param_type;
181        mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
182    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
183#endif
184}
185
186/**
187 * @brief Send a param_value message
188 * @param chan MAVLink channel to send the message
189 * @param struct The MAVLink struct to serialize
190 */
191static inline void mavlink_msg_param_value_send_struct(mavlink_channel_t chan, const mavlink_param_value_t* param_value)
192{
193#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
194    mavlink_msg_param_value_send(chan, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
195#else
196    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)param_value, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
197#endif
198}
199
200#if MAVLINK_MSG_ID_PARAM_VALUE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
201/*
202  This varient of _send() can be used to save stack space by re-using
203  memory from the receive buffer.  The caller provides a
204  mavlink_message_t which is the size of a full mavlink message. This
205  is usually the receive buffer for the channel, and allows a reply to an
206  incoming message with minimum stack space usage.
207 */
208static inline void mavlink_msg_param_value_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
209{
210#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
211        char *buf = (char *)msgbuf;
212        _mav_put_float(buf, 0, param_value);
213        _mav_put_uint16_t(buf, 4, param_count);
214        _mav_put_uint16_t(buf, 6, param_index);
215        _mav_put_uint8_t(buf, 24, param_type);
216        _mav_put_char_array(buf, 8, param_id, 16);
217    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
218#else
219        mavlink_param_value_t *packet = (mavlink_param_value_t *)msgbuf;
220        packet->param_value = param_value;
221        packet->param_count = param_count;
222        packet->param_index = param_index;
223        packet->param_type = param_type;
224        mav_array_memcpy(packet->param_id, param_id, sizeof(char)*16);
225    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)packet, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
226#endif
227}
228#endif
229
230#endif
231
232// MESSAGE PARAM_VALUE UNPACKING
233
234
235/**
236 * @brief Get field param_id from param_value message
237 *
238 * @return Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
239 */
240static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, char *param_id)
241{
242        return _MAV_RETURN_char_array(msg, param_id, 16,  8);
243}
244
245/**
246 * @brief Get field param_value from param_value message
247 *
248 * @return Onboard parameter value
249 */
250static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg)
251{
252        return _MAV_RETURN_float(msg,  0);
253}
254
255/**
256 * @brief Get field param_type from param_value message
257 *
258 * @return Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
259 */
260static inline uint8_t mavlink_msg_param_value_get_param_type(const mavlink_message_t* msg)
261{
262        return _MAV_RETURN_uint8_t(msg,  24);
263}
264
265/**
266 * @brief Get field param_count from param_value message
267 *
268 * @return Total number of onboard parameters
269 */
270static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg)
271{
272        return _MAV_RETURN_uint16_t(msg,  4);
273}
274
275/**
276 * @brief Get field param_index from param_value message
277 *
278 * @return Index of this onboard parameter
279 */
280static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg)
281{
282        return _MAV_RETURN_uint16_t(msg,  6);
283}
284
285/**
286 * @brief Decode a param_value message into a struct
287 *
288 * @param msg The message to decode
289 * @param param_value C-struct to decode the message contents into
290 */
291static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value)
292{
293#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
294        param_value->param_value = mavlink_msg_param_value_get_param_value(msg);
295        param_value->param_count = mavlink_msg_param_value_get_param_count(msg);
296        param_value->param_index = mavlink_msg_param_value_get_param_index(msg);
297        mavlink_msg_param_value_get_param_id(msg, param_value->param_id);
298        param_value->param_type = mavlink_msg_param_value_get_param_type(msg);
299#else
300        uint8_t len = msg->len < MAVLINK_MSG_ID_PARAM_VALUE_LEN? msg->len : MAVLINK_MSG_ID_PARAM_VALUE_LEN;
301        memset(param_value, 0, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
302        memcpy(param_value, _MAV_PAYLOAD(msg), len);
303#endif
304}
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