diff options
Diffstat (limited to 'mavlink/include/mavlink/v0.9/common/mavlink_msg_command.h')
| -rw-r--r-- | mavlink/include/mavlink/v0.9/common/mavlink_msg_command.h | 298 |
1 files changed, 298 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v0.9/common/mavlink_msg_command.h b/mavlink/include/mavlink/v0.9/common/mavlink_msg_command.h new file mode 100644 index 000000000..b5d44f8b2 --- /dev/null +++ b/mavlink/include/mavlink/v0.9/common/mavlink_msg_command.h @@ -0,0 +1,298 @@ +// MESSAGE COMMAND PACKING + +#define MAVLINK_MSG_ID_COMMAND 75 + +typedef struct __mavlink_command_t +{ + uint8_t target_system; ///< System which should execute the command + uint8_t target_component; ///< Component which should execute the command, 0 for all components + uint8_t command; ///< Command ID, as defined by MAV_CMD enum. + uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + float param1; ///< Parameter 1, as defined by MAV_CMD enum. + float param2; ///< Parameter 2, as defined by MAV_CMD enum. + float param3; ///< Parameter 3, as defined by MAV_CMD enum. + float param4; ///< Parameter 4, as defined by MAV_CMD enum. +} mavlink_command_t; + +#define MAVLINK_MSG_ID_COMMAND_LEN 20 +#define MAVLINK_MSG_ID_75_LEN 20 + + + +#define MAVLINK_MESSAGE_INFO_COMMAND { \ + "COMMAND", \ + 8, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_command_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_command_t, target_component) }, \ + { "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_t, command) }, \ + { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_t, confirmation) }, \ + { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_t, param1) }, \ + { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_t, param2) }, \ + { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_t, param3) }, \ + { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_t, param4) }, \ + } \ +} + + +/** + * @brief Pack a command 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 target_system System which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, command); + _mav_put_uint8_t(buf, 3, confirmation); + _mav_put_float(buf, 4, param1); + _mav_put_float(buf, 8, param2); + _mav_put_float(buf, 12, param3); + _mav_put_float(buf, 16, param4); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); +#else + mavlink_command_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.command = command; + packet.confirmation = confirmation; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); +#endif + + msg->msgid = MAVLINK_MSG_ID_COMMAND; + return mavlink_finalize_message(msg, system_id, component_id, 20); +} + +/** + * @brief Pack a command 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 was sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t target_system,uint8_t target_component,uint8_t command,uint8_t confirmation,float param1,float param2,float param3,float param4) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, command); + _mav_put_uint8_t(buf, 3, confirmation); + _mav_put_float(buf, 4, param1); + _mav_put_float(buf, 8, param2); + _mav_put_float(buf, 12, param3); + _mav_put_float(buf, 16, param4); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20); +#else + mavlink_command_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.command = command; + packet.confirmation = confirmation; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20); +#endif + + msg->msgid = MAVLINK_MSG_ID_COMMAND; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20); +} + +/** + * @brief Encode a command struct into a 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 command C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command) +{ + return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4); +} + +/** + * @brief Send a command message + * @param chan MAVLink channel to send the message + * + * @param target_system System which should execute the command + * @param target_component Component which should execute the command, 0 for all components + * @param command Command ID, as defined by MAV_CMD enum. + * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + * @param param1 Parameter 1, as defined by MAV_CMD enum. + * @param param2 Parameter 2, as defined by MAV_CMD enum. + * @param param3 Parameter 3, as defined by MAV_CMD enum. + * @param param4 Parameter 4, as defined by MAV_CMD enum. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[20]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, command); + _mav_put_uint8_t(buf, 3, confirmation); + _mav_put_float(buf, 4, param1); + _mav_put_float(buf, 8, param2); + _mav_put_float(buf, 12, param3); + _mav_put_float(buf, 16, param4); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, buf, 20); +#else + mavlink_command_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.command = command; + packet.confirmation = confirmation; + packet.param1 = param1; + packet.param2 = param2; + packet.param3 = param3; + packet.param4 = param4; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, (const char *)&packet, 20); +#endif +} + +#endif + +// MESSAGE COMMAND UNPACKING + + +/** + * @brief Get field target_system from command message + * + * @return System which should execute the command + */ +static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from command message + * + * @return Component which should execute the command, 0 for all components + */ +static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field command from command message + * + * @return Command ID, as defined by MAV_CMD enum. + */ +static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Get field confirmation from command message + * + * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) + */ +static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 3); +} + +/** + * @brief Get field param1 from command message + * + * @return Parameter 1, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field param2 from command message + * + * @return Parameter 2, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field param3 from command message + * + * @return Parameter 3, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field param4 from command message + * + * @return Parameter 4, as defined by MAV_CMD enum. + */ +static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Decode a command message into a struct + * + * @param msg The message to decode + * @param command C-struct to decode the message contents into + */ +static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command) +{ +#if MAVLINK_NEED_BYTE_SWAP + command->target_system = mavlink_msg_command_get_target_system(msg); + command->target_component = mavlink_msg_command_get_target_component(msg); + command->command = mavlink_msg_command_get_command(msg); + command->confirmation = mavlink_msg_command_get_confirmation(msg); + command->param1 = mavlink_msg_command_get_param1(msg); + command->param2 = mavlink_msg_command_get_param2(msg); + command->param3 = mavlink_msg_command_get_param3(msg); + command->param4 = mavlink_msg_command_get_param4(msg); +#else + memcpy(command, _MAV_PAYLOAD(msg), 20); +#endif +} |