258 lines
9.5 KiB
C
258 lines
9.5 KiB
C
// MESSAGE DATA_STREAM PACKING
|
|
|
|
#define MAVLINK_MSG_ID_DATA_STREAM 67
|
|
|
|
typedef struct __mavlink_data_stream_t
|
|
{
|
|
uint16_t message_rate; ///< The requested interval between two messages of this type
|
|
uint8_t stream_id; ///< The ID of the requested data stream
|
|
uint8_t on_off; ///< 1 stream is enabled, 0 stream is stopped.
|
|
} mavlink_data_stream_t;
|
|
|
|
#define MAVLINK_MSG_ID_DATA_STREAM_LEN 4
|
|
#define MAVLINK_MSG_ID_67_LEN 4
|
|
|
|
#define MAVLINK_MSG_ID_DATA_STREAM_CRC 21
|
|
#define MAVLINK_MSG_ID_67_CRC 21
|
|
|
|
|
|
|
|
#define MAVLINK_MESSAGE_INFO_DATA_STREAM { \
|
|
"DATA_STREAM", \
|
|
3, \
|
|
{ { "message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_data_stream_t, message_rate) }, \
|
|
{ "stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_data_stream_t, stream_id) }, \
|
|
{ "on_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_data_stream_t, on_off) }, \
|
|
} \
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief Pack a data_stream message
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
*
|
|
* @param stream_id The ID of the requested data stream
|
|
* @param message_rate The requested interval between two messages of this type
|
|
* @param on_off 1 stream is enabled, 0 stream is stopped.
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
|
uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
|
|
_mav_put_uint16_t(buf, 0, message_rate);
|
|
_mav_put_uint8_t(buf, 2, stream_id);
|
|
_mav_put_uint8_t(buf, 3, on_off);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
|
|
#else
|
|
mavlink_data_stream_t packet;
|
|
packet.message_rate = message_rate;
|
|
packet.stream_id = stream_id;
|
|
packet.on_off = on_off;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
|
|
#if MAVLINK_CRC_EXTRA
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
|
|
#else
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_STREAM_LEN);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a data_stream message on a channel
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param chan The MAVLink channel this message will be sent over
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param stream_id The ID of the requested data stream
|
|
* @param message_rate The requested interval between two messages of this type
|
|
* @param on_off 1 stream is enabled, 0 stream is stopped.
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
|
mavlink_message_t* msg,
|
|
uint8_t stream_id,uint16_t message_rate,uint8_t on_off)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
|
|
_mav_put_uint16_t(buf, 0, message_rate);
|
|
_mav_put_uint8_t(buf, 2, stream_id);
|
|
_mav_put_uint8_t(buf, 3, on_off);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
|
|
#else
|
|
mavlink_data_stream_t packet;
|
|
packet.message_rate = message_rate;
|
|
packet.stream_id = stream_id;
|
|
packet.on_off = on_off;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
|
|
#if MAVLINK_CRC_EXTRA
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
|
|
#else
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_STREAM_LEN);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a data_stream struct
|
|
*
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param data_stream C-struct to read the message contents from
|
|
*/
|
|
static 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)
|
|
{
|
|
return mavlink_msg_data_stream_pack(system_id, component_id, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a data_stream struct on a channel
|
|
*
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param chan The MAVLink channel this message will be sent over
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param data_stream C-struct to read the message contents from
|
|
*/
|
|
static 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)
|
|
{
|
|
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);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a data_stream message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param stream_id The ID of the requested data stream
|
|
* @param message_rate The requested interval between two messages of this type
|
|
* @param on_off 1 stream is enabled, 0 stream is stopped.
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
|
|
_mav_put_uint16_t(buf, 0, message_rate);
|
|
_mav_put_uint8_t(buf, 2, stream_id);
|
|
_mav_put_uint8_t(buf, 3, on_off);
|
|
|
|
#if MAVLINK_CRC_EXTRA
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
|
|
#endif
|
|
#else
|
|
mavlink_data_stream_t packet;
|
|
packet.message_rate = message_rate;
|
|
packet.stream_id = stream_id;
|
|
packet.on_off = on_off;
|
|
|
|
#if MAVLINK_CRC_EXTRA
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_DATA_STREAM_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
|
/*
|
|
This varient of _send() can be used to save stack space by re-using
|
|
memory from the receive buffer. The caller provides a
|
|
mavlink_message_t which is the size of a full mavlink message. This
|
|
is usually the receive buffer for the channel, and allows a reply to an
|
|
incoming message with minimum stack space usage.
|
|
*/
|
|
static 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)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint16_t(buf, 0, message_rate);
|
|
_mav_put_uint8_t(buf, 2, stream_id);
|
|
_mav_put_uint8_t(buf, 3, on_off);
|
|
|
|
#if MAVLINK_CRC_EXTRA
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
|
|
#endif
|
|
#else
|
|
mavlink_data_stream_t *packet = (mavlink_data_stream_t *)msgbuf;
|
|
packet->message_rate = message_rate;
|
|
packet->stream_id = stream_id;
|
|
packet->on_off = on_off;
|
|
|
|
#if MAVLINK_CRC_EXTRA
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)packet, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
|
|
#endif
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE DATA_STREAM UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field stream_id from data_stream message
|
|
*
|
|
* @return The ID of the requested data stream
|
|
*/
|
|
static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 2);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field message_rate from data_stream message
|
|
*
|
|
* @return The requested interval between two messages of this type
|
|
*/
|
|
static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field on_off from data_stream message
|
|
*
|
|
* @return 1 stream is enabled, 0 stream is stopped.
|
|
*/
|
|
static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 3);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a data_stream message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param data_stream C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_data_stream_decode(const mavlink_message_t* msg, mavlink_data_stream_t* data_stream)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
data_stream->message_rate = mavlink_msg_data_stream_get_message_rate(msg);
|
|
data_stream->stream_id = mavlink_msg_data_stream_get_stream_id(msg);
|
|
data_stream->on_off = mavlink_msg_data_stream_get_on_off(msg);
|
|
#else
|
|
memcpy(data_stream, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA_STREAM_LEN);
|
|
#endif
|
|
}
|