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