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

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 5 years ago

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File size: 11.7 KB
Line 
1// MESSAGE PING PACKING
2
3#define MAVLINK_MSG_ID_PING 4
4
5typedef struct MAVLINK_PACKED __mavlink_ping_t
6{
7 uint64_t time_usec; /*< Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)*/
8 uint32_t seq; /*< PING sequence*/
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*/
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*/
11} mavlink_ping_t;
12
13#define MAVLINK_MSG_ID_PING_LEN 14
14#define MAVLINK_MSG_ID_PING_MIN_LEN 14
15#define MAVLINK_MSG_ID_4_LEN 14
16#define MAVLINK_MSG_ID_4_MIN_LEN 14
17
18#define MAVLINK_MSG_ID_PING_CRC 237
19#define MAVLINK_MSG_ID_4_CRC 237
20
21
22
23#if MAVLINK_COMMAND_24BIT
24#define MAVLINK_MESSAGE_INFO_PING { \
25        4, \
26        "PING", \
27        4, \
28        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
29         { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
30         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
31         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
32         } \
33}
34#else
35#define MAVLINK_MESSAGE_INFO_PING { \
36        "PING", \
37        4, \
38        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
39         { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
40         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
41         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
42         } \
43}
44#endif
45
46/**
47 * @brief Pack a ping message
48 * @param system_id ID of this system
49 * @param component_id ID of this component (e.g. 200 for IMU)
50 * @param msg The MAVLink message to compress the data into
51 *
52 * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
53 * @param seq PING sequence
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
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
56 * @return length of the message in bytes (excluding serial stream start sign)
57 */
58static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
59                                                       uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
60{
61#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
62        char buf[MAVLINK_MSG_ID_PING_LEN];
63        _mav_put_uint64_t(buf, 0, time_usec);
64        _mav_put_uint32_t(buf, 8, seq);
65        _mav_put_uint8_t(buf, 12, target_system);
66        _mav_put_uint8_t(buf, 13, target_component);
67
68        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
69#else
70        mavlink_ping_t packet;
71        packet.time_usec = time_usec;
72        packet.seq = seq;
73        packet.target_system = target_system;
74        packet.target_component = target_component;
75
76        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
77#endif
78
79        msg->msgid = MAVLINK_MSG_ID_PING;
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);
81}
82
83/**
84 * @brief Pack a ping message on a channel
85 * @param system_id ID of this system
86 * @param component_id ID of this component (e.g. 200 for IMU)
87 * @param chan The MAVLink channel this message will be sent over
88 * @param msg The MAVLink message to compress the data into
89 * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
90 * @param seq PING sequence
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
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
93 * @return length of the message in bytes (excluding serial stream start sign)
94 */
95static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
96                                                           mavlink_message_t* msg,
97                                                           uint64_t time_usec,uint32_t seq,uint8_t target_system,uint8_t target_component)
98{
99#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
100        char buf[MAVLINK_MSG_ID_PING_LEN];
101        _mav_put_uint64_t(buf, 0, time_usec);
102        _mav_put_uint32_t(buf, 8, seq);
103        _mav_put_uint8_t(buf, 12, target_system);
104        _mav_put_uint8_t(buf, 13, target_component);
105
106        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
107#else
108        mavlink_ping_t packet;
109        packet.time_usec = time_usec;
110        packet.seq = seq;
111        packet.target_system = target_system;
112        packet.target_component = target_component;
113
114        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
115#endif
116
117        msg->msgid = MAVLINK_MSG_ID_PING;
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);
119}
120
121/**
122 * @brief Encode a ping struct
123 *
124 * @param system_id ID of this system
125 * @param component_id ID of this component (e.g. 200 for IMU)
126 * @param msg The MAVLink message to compress the data into
127 * @param ping C-struct to read the message contents from
128 */
129static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
130{
131        return mavlink_msg_ping_pack(system_id, component_id, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
132}
133
134/**
135 * @brief Encode a ping struct on a channel
136 *
137 * @param system_id ID of this system
138 * @param component_id ID of this component (e.g. 200 for IMU)
139 * @param chan The MAVLink channel this message will be sent over
140 * @param msg The MAVLink message to compress the data into
141 * @param ping C-struct to read the message contents from
142 */
143static 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)
144{
145        return mavlink_msg_ping_pack_chan(system_id, component_id, chan, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
146}
147
148/**
149 * @brief Send a ping message
150 * @param chan MAVLink channel to send the message
151 *
152 * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
153 * @param seq PING sequence
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
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
156 */
157#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
158
159static 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)
160{
161#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
162        char buf[MAVLINK_MSG_ID_PING_LEN];
163        _mav_put_uint64_t(buf, 0, time_usec);
164        _mav_put_uint32_t(buf, 8, seq);
165        _mav_put_uint8_t(buf, 12, target_system);
166        _mav_put_uint8_t(buf, 13, target_component);
167
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);
169#else
170        mavlink_ping_t packet;
171        packet.time_usec = time_usec;
172        packet.seq = seq;
173        packet.target_system = target_system;
174        packet.target_component = target_component;
175
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);
177#endif
178}
179
180/**
181 * @brief Send a ping message
182 * @param chan MAVLink channel to send the message
183 * @param struct The MAVLink struct to serialize
184 */
185static inline void mavlink_msg_ping_send_struct(mavlink_channel_t chan, const mavlink_ping_t* ping)
186{
187#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
188    mavlink_msg_ping_send(chan, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
189#else
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);
191#endif
192}
193
194#if MAVLINK_MSG_ID_PING_LEN <= MAVLINK_MAX_PAYLOAD_LEN
195/*
196  This varient of _send() can be used to save stack space by re-using
197  memory from the receive buffer.  The caller provides a
198  mavlink_message_t which is the size of a full mavlink message. This
199  is usually the receive buffer for the channel, and allows a reply to an
200  incoming message with minimum stack space usage.
201 */
202static 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)
203{
204#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
205        char *buf = (char *)msgbuf;
206        _mav_put_uint64_t(buf, 0, time_usec);
207        _mav_put_uint32_t(buf, 8, seq);
208        _mav_put_uint8_t(buf, 12, target_system);
209        _mav_put_uint8_t(buf, 13, target_component);
210
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);
212#else
213        mavlink_ping_t *packet = (mavlink_ping_t *)msgbuf;
214        packet->time_usec = time_usec;
215        packet->seq = seq;
216        packet->target_system = target_system;
217        packet->target_component = target_component;
218
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);
220#endif
221}
222#endif
223
224#endif
225
226// MESSAGE PING UNPACKING
227
228
229/**
230 * @brief Get field time_usec from ping message
231 *
232 * @return Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
233 */
234static inline uint64_t mavlink_msg_ping_get_time_usec(const mavlink_message_t* msg)
235{
236        return _MAV_RETURN_uint64_t(msg,  0);
237}
238
239/**
240 * @brief Get field seq from ping message
241 *
242 * @return PING sequence
243 */
244static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
245{
246        return _MAV_RETURN_uint32_t(msg,  8);
247}
248
249/**
250 * @brief Get field target_system from ping message
251 *
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
253 */
254static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
255{
256        return _MAV_RETURN_uint8_t(msg,  12);
257}
258
259/**
260 * @brief Get field target_component from ping message
261 *
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
263 */
264static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
265{
266        return _MAV_RETURN_uint8_t(msg,  13);
267}
268
269/**
270 * @brief Decode a ping message into a struct
271 *
272 * @param msg The message to decode
273 * @param ping C-struct to decode the message contents into
274 */
275static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
276{
277#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
278        ping->time_usec = mavlink_msg_ping_get_time_usec(msg);
279        ping->seq = mavlink_msg_ping_get_seq(msg);
280        ping->target_system = mavlink_msg_ping_get_target_system(msg);
281        ping->target_component = mavlink_msg_ping_get_target_component(msg);
282#else
283        uint8_t len = msg->len < MAVLINK_MSG_ID_PING_LEN? msg->len : MAVLINK_MSG_ID_PING_LEN;
284        memset(ping, 0, MAVLINK_MSG_ID_PING_LEN);
285        memcpy(ping, _MAV_PAYLOAD(msg), len);
286#endif
287}
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