source: flair-src/trunk/tools/Controller/Mavlink/src/include/common/mavlink_msg_param_value.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: 13.9 KB
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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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