source: flair-src/trunk/tools/Controller/Mavlink/src/include/common/mavlink_msg_data_stream.h@ 88

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 8 years ago

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File size: 9.9 KB
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1// MESSAGE DATA_STREAM PACKING
2
3#define MAVLINK_MSG_ID_DATA_STREAM 67
4
5typedef struct MAVLINK_PACKED __mavlink_data_stream_t
6{
7 uint16_t message_rate; /*< The message rate*/
8 uint8_t stream_id; /*< The ID of the requested data stream*/
9 uint8_t on_off; /*< 1 stream is enabled, 0 stream is stopped.*/
10} mavlink_data_stream_t;
11
12#define MAVLINK_MSG_ID_DATA_STREAM_LEN 4
13#define MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN 4
14#define MAVLINK_MSG_ID_67_LEN 4
15#define MAVLINK_MSG_ID_67_MIN_LEN 4
16
17#define MAVLINK_MSG_ID_DATA_STREAM_CRC 21
18#define MAVLINK_MSG_ID_67_CRC 21
19
20
21
22#if MAVLINK_COMMAND_24BIT
23#define MAVLINK_MESSAGE_INFO_DATA_STREAM { \
24 67, \
25 "DATA_STREAM", \
26 3, \
27 { { "message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_data_stream_t, message_rate) }, \
28 { "stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_data_stream_t, stream_id) }, \
29 { "on_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_data_stream_t, on_off) }, \
30 } \
31}
32#else
33#define MAVLINK_MESSAGE_INFO_DATA_STREAM { \
34 "DATA_STREAM", \
35 3, \
36 { { "message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_data_stream_t, message_rate) }, \
37 { "stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_data_stream_t, stream_id) }, \
38 { "on_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_data_stream_t, on_off) }, \
39 } \
40}
41#endif
42
43/**
44 * @brief Pack a data_stream message
45 * @param system_id ID of this system
46 * @param component_id ID of this component (e.g. 200 for IMU)
47 * @param msg The MAVLink message to compress the data into
48 *
49 * @param stream_id The ID of the requested data stream
50 * @param message_rate The message rate
51 * @param on_off 1 stream is enabled, 0 stream is stopped.
52 * @return length of the message in bytes (excluding serial stream start sign)
53 */
54static inline uint16_t mavlink_msg_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
55 uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
56{
57#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
58 char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
59 _mav_put_uint16_t(buf, 0, message_rate);
60 _mav_put_uint8_t(buf, 2, stream_id);
61 _mav_put_uint8_t(buf, 3, on_off);
62
63 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
64#else
65 mavlink_data_stream_t packet;
66 packet.message_rate = message_rate;
67 packet.stream_id = stream_id;
68 packet.on_off = on_off;
69
70 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
71#endif
72
73 msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
74 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
75}
76
77/**
78 * @brief Pack a data_stream message on a channel
79 * @param system_id ID of this system
80 * @param component_id ID of this component (e.g. 200 for IMU)
81 * @param chan The MAVLink channel this message will be sent over
82 * @param msg The MAVLink message to compress the data into
83 * @param stream_id The ID of the requested data stream
84 * @param message_rate The message rate
85 * @param on_off 1 stream is enabled, 0 stream is stopped.
86 * @return length of the message in bytes (excluding serial stream start sign)
87 */
88static inline uint16_t mavlink_msg_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
89 mavlink_message_t* msg,
90 uint8_t stream_id,uint16_t message_rate,uint8_t on_off)
91{
92#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
93 char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
94 _mav_put_uint16_t(buf, 0, message_rate);
95 _mav_put_uint8_t(buf, 2, stream_id);
96 _mav_put_uint8_t(buf, 3, on_off);
97
98 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
99#else
100 mavlink_data_stream_t packet;
101 packet.message_rate = message_rate;
102 packet.stream_id = stream_id;
103 packet.on_off = on_off;
104
105 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
106#endif
107
108 msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
109 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
110}
111
112/**
113 * @brief Encode a data_stream struct
114 *
115 * @param system_id ID of this system
116 * @param component_id ID of this component (e.g. 200 for IMU)
117 * @param msg The MAVLink message to compress the data into
118 * @param data_stream C-struct to read the message contents from
119 */
120static inline uint16_t mavlink_msg_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_stream_t* data_stream)
121{
122 return mavlink_msg_data_stream_pack(system_id, component_id, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
123}
124
125/**
126 * @brief Encode a data_stream struct on a channel
127 *
128 * @param system_id ID of this system
129 * @param component_id ID of this component (e.g. 200 for IMU)
130 * @param chan The MAVLink channel this message will be sent over
131 * @param msg The MAVLink message to compress the data into
132 * @param data_stream C-struct to read the message contents from
133 */
134static inline uint16_t mavlink_msg_data_stream_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data_stream_t* data_stream)
135{
136 return mavlink_msg_data_stream_pack_chan(system_id, component_id, chan, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
137}
138
139/**
140 * @brief Send a data_stream message
141 * @param chan MAVLink channel to send the message
142 *
143 * @param stream_id The ID of the requested data stream
144 * @param message_rate The message rate
145 * @param on_off 1 stream is enabled, 0 stream is stopped.
146 */
147#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
148
149static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
150{
151#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
152 char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
153 _mav_put_uint16_t(buf, 0, message_rate);
154 _mav_put_uint8_t(buf, 2, stream_id);
155 _mav_put_uint8_t(buf, 3, on_off);
156
157 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
158#else
159 mavlink_data_stream_t packet;
160 packet.message_rate = message_rate;
161 packet.stream_id = stream_id;
162 packet.on_off = on_off;
163
164 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
165#endif
166}
167
168/**
169 * @brief Send a data_stream message
170 * @param chan MAVLink channel to send the message
171 * @param struct The MAVLink struct to serialize
172 */
173static inline void mavlink_msg_data_stream_send_struct(mavlink_channel_t chan, const mavlink_data_stream_t* data_stream)
174{
175#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
176 mavlink_msg_data_stream_send(chan, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
177#else
178 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)data_stream, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
179#endif
180}
181
182#if MAVLINK_MSG_ID_DATA_STREAM_LEN <= MAVLINK_MAX_PAYLOAD_LEN
183/*
184 This varient of _send() can be used to save stack space by re-using
185 memory from the receive buffer. The caller provides a
186 mavlink_message_t which is the size of a full mavlink message. This
187 is usually the receive buffer for the channel, and allows a reply to an
188 incoming message with minimum stack space usage.
189 */
190static inline void mavlink_msg_data_stream_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
191{
192#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
193 char *buf = (char *)msgbuf;
194 _mav_put_uint16_t(buf, 0, message_rate);
195 _mav_put_uint8_t(buf, 2, stream_id);
196 _mav_put_uint8_t(buf, 3, on_off);
197
198 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
199#else
200 mavlink_data_stream_t *packet = (mavlink_data_stream_t *)msgbuf;
201 packet->message_rate = message_rate;
202 packet->stream_id = stream_id;
203 packet->on_off = on_off;
204
205 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)packet, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
206#endif
207}
208#endif
209
210#endif
211
212// MESSAGE DATA_STREAM UNPACKING
213
214
215/**
216 * @brief Get field stream_id from data_stream message
217 *
218 * @return The ID of the requested data stream
219 */
220static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_message_t* msg)
221{
222 return _MAV_RETURN_uint8_t(msg, 2);
223}
224
225/**
226 * @brief Get field message_rate from data_stream message
227 *
228 * @return The message rate
229 */
230static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_message_t* msg)
231{
232 return _MAV_RETURN_uint16_t(msg, 0);
233}
234
235/**
236 * @brief Get field on_off from data_stream message
237 *
238 * @return 1 stream is enabled, 0 stream is stopped.
239 */
240static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t* msg)
241{
242 return _MAV_RETURN_uint8_t(msg, 3);
243}
244
245/**
246 * @brief Decode a data_stream message into a struct
247 *
248 * @param msg The message to decode
249 * @param data_stream C-struct to decode the message contents into
250 */
251static inline void mavlink_msg_data_stream_decode(const mavlink_message_t* msg, mavlink_data_stream_t* data_stream)
252{
253#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
254 data_stream->message_rate = mavlink_msg_data_stream_get_message_rate(msg);
255 data_stream->stream_id = mavlink_msg_data_stream_get_stream_id(msg);
256 data_stream->on_off = mavlink_msg_data_stream_get_on_off(msg);
257#else
258 uint8_t len = msg->len < MAVLINK_MSG_ID_DATA_STREAM_LEN? msg->len : MAVLINK_MSG_ID_DATA_STREAM_LEN;
259 memset(data_stream, 0, MAVLINK_MSG_ID_DATA_STREAM_LEN);
260 memcpy(data_stream, _MAV_PAYLOAD(msg), len);
261#endif
262}
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