source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/mavlink_generated_messages/common/mavlink_msg_heartbeat.h @ 46

Last change on this file since 46 was 46, checked in by Thomas Fuhrmann, 5 years ago

Add the mavlink branch

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1// MESSAGE HEARTBEAT PACKING
2
3#define MAVLINK_MSG_ID_HEARTBEAT 0
4
5MAVPACKED(
6typedef struct __mavlink_heartbeat_t {
7 uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags.*/
8 uint8_t type; /*< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)*/
9 uint8_t autopilot; /*< Autopilot type / class. defined in MAV_AUTOPILOT ENUM*/
10 uint8_t base_mode; /*< System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h*/
11 uint8_t system_status; /*< System status flag, see MAV_STATE ENUM*/
12 uint8_t mavlink_version; /*< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version*/
13}) mavlink_heartbeat_t;
14
15#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
16#define MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN 9
17#define MAVLINK_MSG_ID_0_LEN 9
18#define MAVLINK_MSG_ID_0_MIN_LEN 9
19
20#define MAVLINK_MSG_ID_HEARTBEAT_CRC 50
21#define MAVLINK_MSG_ID_0_CRC 50
22
23
24
25#if MAVLINK_COMMAND_24BIT
26#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
27        0, \
28        "HEARTBEAT", \
29        6, \
30        {  { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
31         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
32         { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
33         { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
34         { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
35         { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
36         } \
37}
38#else
39#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
40        "HEARTBEAT", \
41        6, \
42        {  { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
43         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
44         { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
45         { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
46         { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
47         { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
48         } \
49}
50#endif
51
52/**
53 * @brief Pack a heartbeat message
54 * @param system_id ID of this system
55 * @param component_id ID of this component (e.g. 200 for IMU)
56 * @param msg The MAVLink message to compress the data into
57 *
58 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
59 * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
60 * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
61 * @param custom_mode A bitfield for use for autopilot-specific flags.
62 * @param system_status System status flag, see MAV_STATE ENUM
63 * @return length of the message in bytes (excluding serial stream start sign)
64 */
65static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
66                                                       uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
67{
68#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
69        char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
70        _mav_put_uint32_t(buf, 0, custom_mode);
71        _mav_put_uint8_t(buf, 4, type);
72        _mav_put_uint8_t(buf, 5, autopilot);
73        _mav_put_uint8_t(buf, 6, base_mode);
74        _mav_put_uint8_t(buf, 7, system_status);
75        _mav_put_uint8_t(buf, 8, 3);
76
77        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
78#else
79        mavlink_heartbeat_t packet;
80        packet.custom_mode = custom_mode;
81        packet.type = type;
82        packet.autopilot = autopilot;
83        packet.base_mode = base_mode;
84        packet.system_status = system_status;
85        packet.mavlink_version = 3;
86
87        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
88#endif
89
90        msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
91    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
92}
93
94/**
95 * @brief Pack a heartbeat message on a channel
96 * @param system_id ID of this system
97 * @param component_id ID of this component (e.g. 200 for IMU)
98 * @param chan The MAVLink channel this message will be sent over
99 * @param msg The MAVLink message to compress the data into
100 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
101 * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
102 * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
103 * @param custom_mode A bitfield for use for autopilot-specific flags.
104 * @param system_status System status flag, see MAV_STATE ENUM
105 * @return length of the message in bytes (excluding serial stream start sign)
106 */
107static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
108                                                           mavlink_message_t* msg,
109                                                           uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)
110{
111#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
112        char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
113        _mav_put_uint32_t(buf, 0, custom_mode);
114        _mav_put_uint8_t(buf, 4, type);
115        _mav_put_uint8_t(buf, 5, autopilot);
116        _mav_put_uint8_t(buf, 6, base_mode);
117        _mav_put_uint8_t(buf, 7, system_status);
118        _mav_put_uint8_t(buf, 8, 3);
119
120        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
121#else
122        mavlink_heartbeat_t packet;
123        packet.custom_mode = custom_mode;
124        packet.type = type;
125        packet.autopilot = autopilot;
126        packet.base_mode = base_mode;
127        packet.system_status = system_status;
128        packet.mavlink_version = 3;
129
130        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
131#endif
132
133        msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
134    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
135}
136
137/**
138 * @brief Encode a heartbeat struct
139 *
140 * @param system_id ID of this system
141 * @param component_id ID of this component (e.g. 200 for IMU)
142 * @param msg The MAVLink message to compress the data into
143 * @param heartbeat C-struct to read the message contents from
144 */
145static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
146{
147        return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
148}
149
150/**
151 * @brief Encode a heartbeat struct on a channel
152 *
153 * @param system_id ID of this system
154 * @param component_id ID of this component (e.g. 200 for IMU)
155 * @param chan The MAVLink channel this message will be sent over
156 * @param msg The MAVLink message to compress the data into
157 * @param heartbeat C-struct to read the message contents from
158 */
159static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
160{
161        return mavlink_msg_heartbeat_pack_chan(system_id, component_id, chan, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
162}
163
164/**
165 * @brief Send a heartbeat message
166 * @param chan MAVLink channel to send the message
167 *
168 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
169 * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
170 * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
171 * @param custom_mode A bitfield for use for autopilot-specific flags.
172 * @param system_status System status flag, see MAV_STATE ENUM
173 */
174#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
175
176static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
177{
178#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
179        char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
180        _mav_put_uint32_t(buf, 0, custom_mode);
181        _mav_put_uint8_t(buf, 4, type);
182        _mav_put_uint8_t(buf, 5, autopilot);
183        _mav_put_uint8_t(buf, 6, base_mode);
184        _mav_put_uint8_t(buf, 7, system_status);
185        _mav_put_uint8_t(buf, 8, 3);
186
187    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
188#else
189        mavlink_heartbeat_t packet;
190        packet.custom_mode = custom_mode;
191        packet.type = type;
192        packet.autopilot = autopilot;
193        packet.base_mode = base_mode;
194        packet.system_status = system_status;
195        packet.mavlink_version = 3;
196
197    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
198#endif
199}
200
201/**
202 * @brief Send a heartbeat message
203 * @param chan MAVLink channel to send the message
204 * @param struct The MAVLink struct to serialize
205 */
206static inline void mavlink_msg_heartbeat_send_struct(mavlink_channel_t chan, const mavlink_heartbeat_t* heartbeat)
207{
208#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
209    mavlink_msg_heartbeat_send(chan, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
210#else
211    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)heartbeat, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
212#endif
213}
214
215#if MAVLINK_MSG_ID_HEARTBEAT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
216/*
217  This varient of _send() can be used to save stack space by re-using
218  memory from the receive buffer.  The caller provides a
219  mavlink_message_t which is the size of a full mavlink message. This
220  is usually the receive buffer for the channel, and allows a reply to an
221  incoming message with minimum stack space usage.
222 */
223static inline void mavlink_msg_heartbeat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
224{
225#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
226        char *buf = (char *)msgbuf;
227        _mav_put_uint32_t(buf, 0, custom_mode);
228        _mav_put_uint8_t(buf, 4, type);
229        _mav_put_uint8_t(buf, 5, autopilot);
230        _mav_put_uint8_t(buf, 6, base_mode);
231        _mav_put_uint8_t(buf, 7, system_status);
232        _mav_put_uint8_t(buf, 8, 3);
233
234    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
235#else
236        mavlink_heartbeat_t *packet = (mavlink_heartbeat_t *)msgbuf;
237        packet->custom_mode = custom_mode;
238        packet->type = type;
239        packet->autopilot = autopilot;
240        packet->base_mode = base_mode;
241        packet->system_status = system_status;
242        packet->mavlink_version = 3;
243
244    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
245#endif
246}
247#endif
248
249#endif
250
251// MESSAGE HEARTBEAT UNPACKING
252
253
254/**
255 * @brief Get field type from heartbeat message
256 *
257 * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
258 */
259static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
260{
261        return _MAV_RETURN_uint8_t(msg,  4);
262}
263
264/**
265 * @brief Get field autopilot from heartbeat message
266 *
267 * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM
268 */
269static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
270{
271        return _MAV_RETURN_uint8_t(msg,  5);
272}
273
274/**
275 * @brief Get field base_mode from heartbeat message
276 *
277 * @return System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
278 */
279static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
280{
281        return _MAV_RETURN_uint8_t(msg,  6);
282}
283
284/**
285 * @brief Get field custom_mode from heartbeat message
286 *
287 * @return A bitfield for use for autopilot-specific flags.
288 */
289static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
290{
291        return _MAV_RETURN_uint32_t(msg,  0);
292}
293
294/**
295 * @brief Get field system_status from heartbeat message
296 *
297 * @return System status flag, see MAV_STATE ENUM
298 */
299static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
300{
301        return _MAV_RETURN_uint8_t(msg,  7);
302}
303
304/**
305 * @brief Get field mavlink_version from heartbeat message
306 *
307 * @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
308 */
309static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
310{
311        return _MAV_RETURN_uint8_t(msg,  8);
312}
313
314/**
315 * @brief Decode a heartbeat message into a struct
316 *
317 * @param msg The message to decode
318 * @param heartbeat C-struct to decode the message contents into
319 */
320static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
321{
322#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
323        heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
324        heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
325        heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
326        heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
327        heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
328        heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
329#else
330        uint8_t len = msg->len < MAVLINK_MSG_ID_HEARTBEAT_LEN? msg->len : MAVLINK_MSG_ID_HEARTBEAT_LEN;
331        memset(heartbeat, 0, MAVLINK_MSG_ID_HEARTBEAT_LEN);
332        memcpy(heartbeat, _MAV_PAYLOAD(msg), len);
333#endif
334}
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