[324] | 1 | // MESSAGE ENCAPSULATED_DATA PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_ENCAPSULATED_DATA 131
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_encapsulated_data_t
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| 6 | {
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| 7 | uint16_t seqnr; /*< sequence number (starting with 0 on every transmission)*/
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| 8 | uint8_t data[253]; /*< image data bytes*/
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| 9 | } mavlink_encapsulated_data_t;
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| 10 |
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| 11 | #define MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN 255
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| 12 | #define MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN 255
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| 13 | #define MAVLINK_MSG_ID_131_LEN 255
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| 14 | #define MAVLINK_MSG_ID_131_MIN_LEN 255
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| 15 |
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| 16 | #define MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC 223
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| 17 | #define MAVLINK_MSG_ID_131_CRC 223
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| 18 |
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| 19 | #define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253
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| 20 |
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| 21 | #if MAVLINK_COMMAND_24BIT
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| 22 | #define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
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| 23 | 131, \
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| 24 | "ENCAPSULATED_DATA", \
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| 25 | 2, \
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| 26 | { { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
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| 27 | { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
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| 28 | } \
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| 29 | }
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| 30 | #else
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| 31 | #define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
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| 32 | "ENCAPSULATED_DATA", \
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| 33 | 2, \
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| 34 | { { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
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| 35 | { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
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| 36 | } \
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| 37 | }
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| 38 | #endif
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| 39 |
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| 40 | /**
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| 41 | * @brief Pack a encapsulated_data message
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| 42 | * @param system_id ID of this system
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| 43 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 44 | * @param msg The MAVLink message to compress the data into
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| 45 | *
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| 46 | * @param seqnr sequence number (starting with 0 on every transmission)
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| 47 | * @param data image data bytes
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| 48 | * @return length of the message in bytes (excluding serial stream start sign)
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| 49 | */
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| 50 | static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 51 | uint16_t seqnr, const uint8_t *data)
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| 52 | {
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| 53 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 54 | char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
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| 55 | _mav_put_uint16_t(buf, 0, seqnr);
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| 56 | _mav_put_uint8_t_array(buf, 2, data, 253);
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| 57 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
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| 58 | #else
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| 59 | mavlink_encapsulated_data_t packet;
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| 60 | packet.seqnr = seqnr;
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| 61 | mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
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| 62 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
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| 63 | #endif
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| 64 |
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| 65 | msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
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| 66 | 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);
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| 67 | }
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| 68 |
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| 69 | /**
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| 70 | * @brief Pack a encapsulated_data message on a channel
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| 71 | * @param system_id ID of this system
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| 72 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 73 | * @param chan The MAVLink channel this message will be sent over
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| 74 | * @param msg The MAVLink message to compress the data into
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| 75 | * @param seqnr sequence number (starting with 0 on every transmission)
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| 76 | * @param data image data bytes
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| 77 | * @return length of the message in bytes (excluding serial stream start sign)
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| 78 | */
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| 79 | static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 80 | mavlink_message_t* msg,
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| 81 | uint16_t seqnr,const uint8_t *data)
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| 82 | {
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| 83 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 84 | char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
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| 85 | _mav_put_uint16_t(buf, 0, seqnr);
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| 86 | _mav_put_uint8_t_array(buf, 2, data, 253);
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| 87 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
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| 88 | #else
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| 89 | mavlink_encapsulated_data_t packet;
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| 90 | packet.seqnr = seqnr;
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| 91 | mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
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| 92 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
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| 93 | #endif
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| 94 |
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| 95 | msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
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| 96 | 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);
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| 97 | }
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| 98 |
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| 99 | /**
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| 100 | * @brief Encode a encapsulated_data struct
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| 101 | *
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| 102 | * @param system_id ID of this system
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| 103 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 104 | * @param msg The MAVLink message to compress the data into
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| 105 | * @param encapsulated_data C-struct to read the message contents from
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| 106 | */
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| 107 | 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)
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| 108 | {
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| 109 | return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data);
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| 110 | }
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| 111 |
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| 112 | /**
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| 113 | * @brief Encode a encapsulated_data struct on a channel
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| 114 | *
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| 115 | * @param system_id ID of this system
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| 116 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 117 | * @param chan The MAVLink channel this message will be sent over
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| 118 | * @param msg The MAVLink message to compress the data into
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| 119 | * @param encapsulated_data C-struct to read the message contents from
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| 120 | */
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| 121 | 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)
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| 122 | {
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| 123 | return mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, chan, msg, encapsulated_data->seqnr, encapsulated_data->data);
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| 124 | }
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| 125 |
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| 126 | /**
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| 127 | * @brief Send a encapsulated_data message
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| 128 | * @param chan MAVLink channel to send the message
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| 129 | *
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| 130 | * @param seqnr sequence number (starting with 0 on every transmission)
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| 131 | * @param data image data bytes
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| 132 | */
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| 133 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 134 |
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| 135 | static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
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| 136 | {
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| 137 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 138 | char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
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| 139 | _mav_put_uint16_t(buf, 0, seqnr);
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| 140 | _mav_put_uint8_t_array(buf, 2, data, 253);
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| 141 | _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);
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| 142 | #else
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| 143 | mavlink_encapsulated_data_t packet;
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| 144 | packet.seqnr = seqnr;
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| 145 | mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
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| 146 | _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);
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| 147 | #endif
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| 148 | }
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| 149 |
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| 150 | /**
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| 151 | * @brief Send a encapsulated_data message
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| 152 | * @param chan MAVLink channel to send the message
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| 153 | * @param struct The MAVLink struct to serialize
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| 154 | */
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| 155 | static inline void mavlink_msg_encapsulated_data_send_struct(mavlink_channel_t chan, const mavlink_encapsulated_data_t* encapsulated_data)
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| 156 | {
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| 157 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 158 | mavlink_msg_encapsulated_data_send(chan, encapsulated_data->seqnr, encapsulated_data->data);
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| 159 | #else
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| 160 | _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);
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| 161 | #endif
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| 162 | }
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| 163 |
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| 164 | #if MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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| 165 | /*
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| 166 | This varient of _send() can be used to save stack space by re-using
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| 167 | memory from the receive buffer. The caller provides a
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| 168 | mavlink_message_t which is the size of a full mavlink message. This
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| 169 | is usually the receive buffer for the channel, and allows a reply to an
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| 170 | incoming message with minimum stack space usage.
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| 171 | */
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| 172 | static inline void mavlink_msg_encapsulated_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
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| 173 | {
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| 174 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 175 | char *buf = (char *)msgbuf;
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| 176 | _mav_put_uint16_t(buf, 0, seqnr);
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| 177 | _mav_put_uint8_t_array(buf, 2, data, 253);
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| 178 | _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);
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| 179 | #else
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| 180 | mavlink_encapsulated_data_t *packet = (mavlink_encapsulated_data_t *)msgbuf;
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| 181 | packet->seqnr = seqnr;
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| 182 | mav_array_memcpy(packet->data, data, sizeof(uint8_t)*253);
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| 183 | _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);
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| 184 | #endif
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| 185 | }
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| 186 | #endif
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| 187 |
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| 188 | #endif
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| 189 |
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| 190 | // MESSAGE ENCAPSULATED_DATA UNPACKING
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| 191 |
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| 192 |
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| 193 | /**
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| 194 | * @brief Get field seqnr from encapsulated_data message
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| 195 | *
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| 196 | * @return sequence number (starting with 0 on every transmission)
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| 197 | */
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| 198 | static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg)
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| 199 | {
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| 200 | return _MAV_RETURN_uint16_t(msg, 0);
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| 201 | }
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| 202 |
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| 203 | /**
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| 204 | * @brief Get field data from encapsulated_data message
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| 205 | *
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| 206 | * @return image data bytes
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| 207 | */
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| 208 | static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t *data)
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| 209 | {
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| 210 | return _MAV_RETURN_uint8_t_array(msg, data, 253, 2);
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| 211 | }
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| 212 |
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| 213 | /**
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| 214 | * @brief Decode a encapsulated_data message into a struct
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| 215 | *
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| 216 | * @param msg The message to decode
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| 217 | * @param encapsulated_data C-struct to decode the message contents into
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| 218 | */
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| 219 | static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data)
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| 220 | {
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| 221 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 222 | encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg);
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| 223 | mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data);
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| 224 | #else
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| 225 | uint8_t len = msg->len < MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN? msg->len : MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN;
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| 226 | memset(encapsulated_data, 0, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
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| 227 | memcpy(encapsulated_data, _MAV_PAYLOAD(msg), len);
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| 228 | #endif
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| 229 | }
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