282 lines
11 KiB
C
Executable File
282 lines
11 KiB
C
Executable File
// MESSAGE PING PACKING
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#define MAVLINK_MSG_ID_PING 4
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typedef struct __mavlink_ping_t
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{
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uint64_t time_usec; ///< Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
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uint32_t seq; ///< PING sequence
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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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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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} mavlink_ping_t;
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#define MAVLINK_MSG_ID_PING_LEN 14
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#define MAVLINK_MSG_ID_4_LEN 14
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#define MAVLINK_MSG_ID_PING_CRC 237
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#define MAVLINK_MSG_ID_4_CRC 237
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#define MAVLINK_MESSAGE_INFO_PING { \
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"PING", \
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4, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
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{ "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
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} \
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}
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/**
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* @brief Pack a ping message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
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* @param seq PING sequence
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* @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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* @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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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_PING_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, seq);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
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#else
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mavlink_ping_t packet;
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packet.time_usec = time_usec;
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packet.seq = seq;
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packet.target_system = target_system;
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packet.target_component = target_component;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_PING;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PING_LEN);
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#endif
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}
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/**
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* @brief Pack a ping message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
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* @param seq PING sequence
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* @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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* @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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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t time_usec,uint32_t seq,uint8_t target_system,uint8_t target_component)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_PING_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, seq);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
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#else
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mavlink_ping_t packet;
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packet.time_usec = time_usec;
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packet.seq = seq;
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packet.target_system = target_system;
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packet.target_component = target_component;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_PING;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PING_LEN);
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#endif
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}
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/**
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* @brief Encode a ping struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param ping C-struct to read the message contents from
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*/
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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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{
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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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}
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/**
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* @brief Encode a ping struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param ping C-struct to read the message contents from
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*/
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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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{
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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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}
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/**
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* @brief Send a ping message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
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* @param seq PING sequence
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* @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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* @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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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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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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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_PING_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, seq);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN);
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#endif
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#else
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mavlink_ping_t packet;
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packet.time_usec = time_usec;
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packet.seq = seq;
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packet.target_system = target_system;
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packet.target_component = target_component;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, MAVLINK_MSG_ID_PING_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_PING_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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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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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, seq);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN);
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#endif
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#else
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mavlink_ping_t *packet = (mavlink_ping_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->seq = seq;
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packet->target_system = target_system;
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packet->target_component = target_component;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)packet, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)packet, MAVLINK_MSG_ID_PING_LEN);
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#endif
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#endif
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}
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#endif
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#endif
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// MESSAGE PING UNPACKING
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/**
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* @brief Get field time_usec from ping message
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*
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* @return Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
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*/
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static inline uint64_t mavlink_msg_ping_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field seq from ping message
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*
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* @return PING sequence
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*/
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static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 8);
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}
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/**
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* @brief Get field target_system from ping message
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*
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* @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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*/
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static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 12);
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}
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/**
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* @brief Get field target_component from ping message
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*
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* @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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*/
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static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 13);
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}
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/**
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* @brief Decode a ping message into a struct
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*
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* @param msg The message to decode
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* @param ping C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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ping->time_usec = mavlink_msg_ping_get_time_usec(msg);
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ping->seq = mavlink_msg_ping_get_seq(msg);
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ping->target_system = mavlink_msg_ping_get_target_system(msg);
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ping->target_component = mavlink_msg_ping_get_target_component(msg);
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#else
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memcpy(ping, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PING_LEN);
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#endif
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}
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