diff options
Diffstat (limited to 'mavlink/include/mavlink/v0.9/common/mavlink_msg_waypoint_ack.h')
| -rw-r--r-- | mavlink/include/mavlink/v0.9/common/mavlink_msg_waypoint_ack.h | 188 |
1 files changed, 188 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v0.9/common/mavlink_msg_waypoint_ack.h b/mavlink/include/mavlink/v0.9/common/mavlink_msg_waypoint_ack.h new file mode 100644 index 000000000..ddba2adf4 --- /dev/null +++ b/mavlink/include/mavlink/v0.9/common/mavlink_msg_waypoint_ack.h @@ -0,0 +1,188 @@ +// MESSAGE WAYPOINT_ACK PACKING + +#define MAVLINK_MSG_ID_WAYPOINT_ACK 47 + +typedef struct __mavlink_waypoint_ack_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint8_t type; ///< 0: OK, 1: Error +} mavlink_waypoint_ack_t; + +#define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN 3 +#define MAVLINK_MSG_ID_47_LEN 3 + + + +#define MAVLINK_MESSAGE_INFO_WAYPOINT_ACK { \ + "WAYPOINT_ACK", \ + 3, \ + { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_waypoint_ack_t, target_system) }, \ + { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_waypoint_ack_t, target_component) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_waypoint_ack_t, type) }, \ + } \ +} + + +/** + * @brief Pack a waypoint_ack 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 ID + * @param target_component Component ID + * @param type 0: OK, 1: Error + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t target_system, uint8_t target_component, uint8_t type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, type); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); +#else + mavlink_waypoint_ack_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.type = type; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK; + return mavlink_finalize_message(msg, system_id, component_id, 3); +} + +/** + * @brief Pack a waypoint_ack 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 ID + * @param target_component Component ID + * @param type 0: OK, 1: Error + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_ack_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 type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, type); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); +#else + mavlink_waypoint_ack_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.type = type; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); +#endif + + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_ACK; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3); +} + +/** + * @brief Encode a waypoint_ack 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 waypoint_ack C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_waypoint_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_ack_t* waypoint_ack) +{ + return mavlink_msg_waypoint_ack_pack(system_id, component_id, msg, waypoint_ack->target_system, waypoint_ack->target_component, waypoint_ack->type); +} + +/** + * @brief Send a waypoint_ack message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param type 0: OK, 1: Error + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_waypoint_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[3]; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, type); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_ACK, buf, 3); +#else + mavlink_waypoint_ack_t packet; + packet.target_system = target_system; + packet.target_component = target_component; + packet.type = type; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_ACK, (const char *)&packet, 3); +#endif +} + +#endif + +// MESSAGE WAYPOINT_ACK UNPACKING + + +/** + * @brief Get field target_system from waypoint_ack message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_waypoint_ack_get_target_system(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field target_component from waypoint_ack message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_waypoint_ack_get_target_component(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 1); +} + +/** + * @brief Get field type from waypoint_ack message + * + * @return 0: OK, 1: Error + */ +static inline uint8_t mavlink_msg_waypoint_ack_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 2); +} + +/** + * @brief Decode a waypoint_ack message into a struct + * + * @param msg The message to decode + * @param waypoint_ack C-struct to decode the message contents into + */ +static inline void mavlink_msg_waypoint_ack_decode(const mavlink_message_t* msg, mavlink_waypoint_ack_t* waypoint_ack) +{ +#if MAVLINK_NEED_BYTE_SWAP + waypoint_ack->target_system = mavlink_msg_waypoint_ack_get_target_system(msg); + waypoint_ack->target_component = mavlink_msg_waypoint_ack_get_target_component(msg); + waypoint_ack->type = mavlink_msg_waypoint_ack_get_type(msg); +#else + memcpy(waypoint_ack, _MAV_PAYLOAD(msg), 3); +#endif +} |