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

Last change on this file since 75 was 75, checked in by Thomas Fuhrmann, 8 years ago

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

File size: 11.7 KB
Line 
1// MESSAGE PING PACKING
2
3#define MAVLINK_MSG_ID_PING 4
4
5typedef struct MAVLINK_PACKED __mavlink_ping_t
6{
7 uint64_t time_usec; /*< Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)*/
8 uint32_t seq; /*< PING sequence*/
9 uint8_t target_system; /*< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system*/
10 uint8_t target_component; /*< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system*/
11} mavlink_ping_t;
12
13#define MAVLINK_MSG_ID_PING_LEN 14
14#define MAVLINK_MSG_ID_PING_MIN_LEN 14
15#define MAVLINK_MSG_ID_4_LEN 14
16#define MAVLINK_MSG_ID_4_MIN_LEN 14
17
18#define MAVLINK_MSG_ID_PING_CRC 237
19#define MAVLINK_MSG_ID_4_CRC 237
20
21
22
23#if MAVLINK_COMMAND_24BIT
24#define MAVLINK_MESSAGE_INFO_PING { \
25 4, \
26 "PING", \
27 4, \
28 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
29 { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
30 { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
31 { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
32 } \
33}
34#else
35#define MAVLINK_MESSAGE_INFO_PING { \
36 "PING", \
37 4, \
38 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
39 { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
40 { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
41 { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
42 } \
43}
44#endif
45
46/**
47 * @brief Pack a ping message
48 * @param system_id ID of this system
49 * @param component_id ID of this component (e.g. 200 for IMU)
50 * @param msg The MAVLink message to compress the data into
51 *
52 * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
53 * @param seq PING sequence
54 * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
55 * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
56 * @return length of the message in bytes (excluding serial stream start sign)
57 */
58static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
59 uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
60{
61#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
62 char buf[MAVLINK_MSG_ID_PING_LEN];
63 _mav_put_uint64_t(buf, 0, time_usec);
64 _mav_put_uint32_t(buf, 8, seq);
65 _mav_put_uint8_t(buf, 12, target_system);
66 _mav_put_uint8_t(buf, 13, target_component);
67
68 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
69#else
70 mavlink_ping_t packet;
71 packet.time_usec = time_usec;
72 packet.seq = seq;
73 packet.target_system = target_system;
74 packet.target_component = target_component;
75
76 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
77#endif
78
79 msg->msgid = MAVLINK_MSG_ID_PING;
80 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
81}
82
83/**
84 * @brief Pack a ping message on a channel
85 * @param system_id ID of this system
86 * @param component_id ID of this component (e.g. 200 for IMU)
87 * @param chan The MAVLink channel this message will be sent over
88 * @param msg The MAVLink message to compress the data into
89 * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
90 * @param seq PING sequence
91 * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
92 * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
93 * @return length of the message in bytes (excluding serial stream start sign)
94 */
95static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
96 mavlink_message_t* msg,
97 uint64_t time_usec,uint32_t seq,uint8_t target_system,uint8_t target_component)
98{
99#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
100 char buf[MAVLINK_MSG_ID_PING_LEN];
101 _mav_put_uint64_t(buf, 0, time_usec);
102 _mav_put_uint32_t(buf, 8, seq);
103 _mav_put_uint8_t(buf, 12, target_system);
104 _mav_put_uint8_t(buf, 13, target_component);
105
106 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
107#else
108 mavlink_ping_t packet;
109 packet.time_usec = time_usec;
110 packet.seq = seq;
111 packet.target_system = target_system;
112 packet.target_component = target_component;
113
114 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
115#endif
116
117 msg->msgid = MAVLINK_MSG_ID_PING;
118 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
119}
120
121/**
122 * @brief Encode a ping struct
123 *
124 * @param system_id ID of this system
125 * @param component_id ID of this component (e.g. 200 for IMU)
126 * @param msg The MAVLink message to compress the data into
127 * @param ping C-struct to read the message contents from
128 */
129static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
130{
131 return mavlink_msg_ping_pack(system_id, component_id, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
132}
133
134/**
135 * @brief Encode a ping struct on a channel
136 *
137 * @param system_id ID of this system
138 * @param component_id ID of this component (e.g. 200 for IMU)
139 * @param chan The MAVLink channel this message will be sent over
140 * @param msg The MAVLink message to compress the data into
141 * @param ping C-struct to read the message contents from
142 */
143static inline uint16_t mavlink_msg_ping_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ping_t* ping)
144{
145 return mavlink_msg_ping_pack_chan(system_id, component_id, chan, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
146}
147
148/**
149 * @brief Send a ping message
150 * @param chan MAVLink channel to send the message
151 *
152 * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
153 * @param seq PING sequence
154 * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
155 * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
156 */
157#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
158
159static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
160{
161#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
162 char buf[MAVLINK_MSG_ID_PING_LEN];
163 _mav_put_uint64_t(buf, 0, time_usec);
164 _mav_put_uint32_t(buf, 8, seq);
165 _mav_put_uint8_t(buf, 12, target_system);
166 _mav_put_uint8_t(buf, 13, target_component);
167
168 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
169#else
170 mavlink_ping_t packet;
171 packet.time_usec = time_usec;
172 packet.seq = seq;
173 packet.target_system = target_system;
174 packet.target_component = target_component;
175
176 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
177#endif
178}
179
180/**
181 * @brief Send a ping message
182 * @param chan MAVLink channel to send the message
183 * @param struct The MAVLink struct to serialize
184 */
185static inline void mavlink_msg_ping_send_struct(mavlink_channel_t chan, const mavlink_ping_t* ping)
186{
187#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
188 mavlink_msg_ping_send(chan, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
189#else
190 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)ping, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
191#endif
192}
193
194#if MAVLINK_MSG_ID_PING_LEN <= MAVLINK_MAX_PAYLOAD_LEN
195/*
196 This varient of _send() can be used to save stack space by re-using
197 memory from the receive buffer. The caller provides a
198 mavlink_message_t which is the size of a full mavlink message. This
199 is usually the receive buffer for the channel, and allows a reply to an
200 incoming message with minimum stack space usage.
201 */
202static inline void mavlink_msg_ping_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
203{
204#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
205 char *buf = (char *)msgbuf;
206 _mav_put_uint64_t(buf, 0, time_usec);
207 _mav_put_uint32_t(buf, 8, seq);
208 _mav_put_uint8_t(buf, 12, target_system);
209 _mav_put_uint8_t(buf, 13, target_component);
210
211 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
212#else
213 mavlink_ping_t *packet = (mavlink_ping_t *)msgbuf;
214 packet->time_usec = time_usec;
215 packet->seq = seq;
216 packet->target_system = target_system;
217 packet->target_component = target_component;
218
219 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)packet, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
220#endif
221}
222#endif
223
224#endif
225
226// MESSAGE PING UNPACKING
227
228
229/**
230 * @brief Get field time_usec from ping message
231 *
232 * @return Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
233 */
234static inline uint64_t mavlink_msg_ping_get_time_usec(const mavlink_message_t* msg)
235{
236 return _MAV_RETURN_uint64_t(msg, 0);
237}
238
239/**
240 * @brief Get field seq from ping message
241 *
242 * @return PING sequence
243 */
244static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
245{
246 return _MAV_RETURN_uint32_t(msg, 8);
247}
248
249/**
250 * @brief Get field target_system from ping message
251 *
252 * @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
253 */
254static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
255{
256 return _MAV_RETURN_uint8_t(msg, 12);
257}
258
259/**
260 * @brief Get field target_component from ping message
261 *
262 * @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
263 */
264static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
265{
266 return _MAV_RETURN_uint8_t(msg, 13);
267}
268
269/**
270 * @brief Decode a ping message into a struct
271 *
272 * @param msg The message to decode
273 * @param ping C-struct to decode the message contents into
274 */
275static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
276{
277#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
278 ping->time_usec = mavlink_msg_ping_get_time_usec(msg);
279 ping->seq = mavlink_msg_ping_get_seq(msg);
280 ping->target_system = mavlink_msg_ping_get_target_system(msg);
281 ping->target_component = mavlink_msg_ping_get_target_component(msg);
282#else
283 uint8_t len = msg->len < MAVLINK_MSG_ID_PING_LEN? msg->len : MAVLINK_MSG_ID_PING_LEN;
284 memset(ping, 0, MAVLINK_MSG_ID_PING_LEN);
285 memcpy(ping, _MAV_PAYLOAD(msg), len);
286#endif
287}
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