diff options
Diffstat (limited to 'ext/mavlink/include/mavlink/common/mavlink_msg_debug_vect.h')
| -rw-r--r-- | ext/mavlink/include/mavlink/common/mavlink_msg_debug_vect.h | 297 |
1 files changed, 297 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_debug_vect.h b/ext/mavlink/include/mavlink/common/mavlink_msg_debug_vect.h new file mode 100644 index 0000000..67c339e --- /dev/null +++ b/ext/mavlink/include/mavlink/common/mavlink_msg_debug_vect.h @@ -0,0 +1,297 @@ +// MESSAGE DEBUG_VECT PACKING + +#define MAVLINK_MSG_ID_DEBUG_VECT 250 + +typedef struct __mavlink_debug_vect_t +{ + uint64_t time_usec; ///< Timestamp + float x; ///< x + float y; ///< y + float z; ///< z + char name[10]; ///< Name +} mavlink_debug_vect_t; + +#define MAVLINK_MSG_ID_DEBUG_VECT_LEN 30 +#define MAVLINK_MSG_ID_250_LEN 30 + +#define MAVLINK_MSG_ID_DEBUG_VECT_CRC 49 +#define MAVLINK_MSG_ID_250_CRC 49 + +#define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10 + +#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \ + "DEBUG_VECT", \ + 5, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_debug_vect_t, time_usec) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_debug_vect_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_debug_vect_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_debug_vect_t, z) }, \ + { "name", NULL, MAVLINK_TYPE_CHAR, 10, 20, offsetof(mavlink_debug_vect_t, name) }, \ + } \ +} + + +/** + * @brief Pack a debug_vect 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 name Name + * @param time_usec Timestamp + * @param x x + * @param y y + * @param z z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const char *name, uint64_t time_usec, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DEBUG_VECT_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_char_array(buf, 20, name, 10); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#else + mavlink_debug_vect_t packet; + packet.time_usec = time_usec; + packet.x = x; + packet.y = y; + packet.z = z; + mav_array_memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#endif +} + +/** + * @brief Pack a debug_vect 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 name Name + * @param time_usec Timestamp + * @param x x + * @param y y + * @param z z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const char *name,uint64_t time_usec,float x,float y,float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DEBUG_VECT_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_char_array(buf, 20, name, 10); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#else + mavlink_debug_vect_t packet; + packet.time_usec = time_usec; + packet.x = x; + packet.y = y; + packet.z = z; + mav_array_memcpy(packet.name, name, sizeof(char)*10); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#endif +} + +/** + * @brief Encode a debug_vect 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 debug_vect C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect) +{ + return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->time_usec, debug_vect->x, debug_vect->y, debug_vect->z); +} + +/** + * @brief Encode a debug_vect 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 debug_vect C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_debug_vect_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect) +{ + return mavlink_msg_debug_vect_pack_chan(system_id, component_id, chan, msg, debug_vect->name, debug_vect->time_usec, debug_vect->x, debug_vect->y, debug_vect->z); +} + +/** + * @brief Send a debug_vect message + * @param chan MAVLink channel to send the message + * + * @param name Name + * @param time_usec Timestamp + * @param x x + * @param y y + * @param z z + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char *name, uint64_t time_usec, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DEBUG_VECT_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_char_array(buf, 20, name, 10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#endif +#else + mavlink_debug_vect_t packet; + packet.time_usec = time_usec; + packet.x = x; + packet.y = y; + packet.z = z; + mav_array_memcpy(packet.name, name, sizeof(char)*10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_DEBUG_VECT_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_debug_vect_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const char *name, uint64_t time_usec, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_char_array(buf, 20, name, 10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#endif +#else + mavlink_debug_vect_t *packet = (mavlink_debug_vect_t *)msgbuf; + packet->time_usec = time_usec; + packet->x = x; + packet->y = y; + packet->z = z; + mav_array_memcpy(packet->name, name, sizeof(char)*10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE DEBUG_VECT UNPACKING + + +/** + * @brief Get field name from debug_vect message + * + * @return Name + */ +static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char *name) +{ + return _MAV_RETURN_char_array(msg, name, 10, 20); +} + +/** + * @brief Get field time_usec from debug_vect message + * + * @return Timestamp + */ +static inline uint64_t mavlink_msg_debug_vect_get_time_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field x from debug_vect message + * + * @return x + */ +static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field y from debug_vect message + * + * @return y + */ +static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field z from debug_vect message + * + * @return z + */ +static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Decode a debug_vect message into a struct + * + * @param msg The message to decode + * @param debug_vect C-struct to decode the message contents into + */ +static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect) +{ +#if MAVLINK_NEED_BYTE_SWAP + debug_vect->time_usec = mavlink_msg_debug_vect_get_time_usec(msg); + debug_vect->x = mavlink_msg_debug_vect_get_x(msg); + debug_vect->y = mavlink_msg_debug_vect_get_y(msg); + debug_vect->z = mavlink_msg_debug_vect_get_z(msg); + mavlink_msg_debug_vect_get_name(msg, debug_vect->name); +#else + memcpy(debug_vect, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#endif +} |