diff options
Diffstat (limited to 'ext/mavlink/include/mavlink/common/mavlink_msg_data_stream.h')
| -rw-r--r-- | ext/mavlink/include/mavlink/common/mavlink_msg_data_stream.h | 257 |
1 files changed, 257 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_data_stream.h b/ext/mavlink/include/mavlink/common/mavlink_msg_data_stream.h new file mode 100644 index 0000000..640ffeb --- /dev/null +++ b/ext/mavlink/include/mavlink/common/mavlink_msg_data_stream.h @@ -0,0 +1,257 @@ +// 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 +} |