diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h | 193 |
1 files changed, 193 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h new file mode 100644 index 000000000..5900ea838 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h @@ -0,0 +1,193 @@ +// MESSAGE ENCAPSULATED_DATA PACKING + +#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 131 + +typedef struct __mavlink_encapsulated_data_t +{ + uint16_t seqnr; ///< sequence number (starting with 0 on every transmission) + uint8_t data[253]; ///< image data bytes +} mavlink_encapsulated_data_t; + +#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN 255 +#define MAVLINK_MSG_ID_131_LEN 255 + +#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC 223 +#define MAVLINK_MSG_ID_131_CRC 223 + +#define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253 + +#define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \ + "ENCAPSULATED_DATA", \ + 2, \ + { { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \ + { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \ + } \ +} + + +/** + * @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission) + * @param data image data bytes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t seqnr, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN]; + _mav_put_uint16_t(buf, 0, seqnr); + _mav_put_uint8_t_array(buf, 2, data, 253); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN); +#else + mavlink_encapsulated_data_t packet; + packet.seqnr = seqnr; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN); +#endif +} + +/** + * @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission) + * @param data image data bytes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t seqnr,const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN]; + _mav_put_uint16_t(buf, 0, seqnr); + _mav_put_uint8_t_array(buf, 2, data, 253); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN); +#else + mavlink_encapsulated_data_t packet; + packet.seqnr = seqnr; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN); +#endif +} + +/** + * @brief Encode a encapsulated_data 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 encapsulated_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data) +{ + return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data); +} + +/** + * @brief Encode a encapsulated_data 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 encapsulated_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_encapsulated_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data) +{ + return mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, chan, msg, encapsulated_data->seqnr, encapsulated_data->data); +} + +/** + * @brief Send a encapsulated_data message + * @param chan MAVLink channel to send the message + * + * @param seqnr sequence number (starting with 0 on every transmission) + * @param data image data bytes + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN]; + _mav_put_uint16_t(buf, 0, seqnr); + _mav_put_uint8_t_array(buf, 2, data, 253); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN); +#endif +#else + mavlink_encapsulated_data_t packet; + packet.seqnr = seqnr; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN); +#endif +#endif +} + +#endif + +// MESSAGE ENCAPSULATED_DATA UNPACKING + + +/** + * @brief Get field seqnr from encapsulated_data message + * + * @return sequence number (starting with 0 on every transmission) + */ +static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field data from encapsulated_data message + * + * @return image data bytes + */ +static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t *data) +{ + return _MAV_RETURN_uint8_t_array(msg, data, 253, 2); +} + +/** + * @brief Decode a encapsulated_data message into a struct + * + * @param msg The message to decode + * @param encapsulated_data C-struct to decode the message contents into + */ +static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data) +{ +#if MAVLINK_NEED_BYTE_SWAP + encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg); + mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data); +#else + memcpy(encapsulated_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN); +#endif +} |