diff options
Diffstat (limited to 'mavlink/include/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_heartbeat.h')
| -rw-r--r-- | mavlink/include/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_heartbeat.h | 166 |
1 files changed, 166 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_heartbeat.h b/mavlink/include/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_heartbeat.h new file mode 100644 index 000000000..6dbe21104 --- /dev/null +++ b/mavlink/include/mavlink/v0.9/pixhawk/mavlink_msg_watchdog_heartbeat.h @@ -0,0 +1,166 @@ +// MESSAGE WATCHDOG_HEARTBEAT PACKING + +#define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT 180 + +typedef struct __mavlink_watchdog_heartbeat_t +{ + uint16_t watchdog_id; ///< Watchdog ID + uint16_t process_count; ///< Number of processes +} mavlink_watchdog_heartbeat_t; + +#define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN 4 +#define MAVLINK_MSG_ID_180_LEN 4 + + + +#define MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT { \ + "WATCHDOG_HEARTBEAT", \ + 2, \ + { { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_watchdog_heartbeat_t, watchdog_id) }, \ + { "process_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_watchdog_heartbeat_t, process_count) }, \ + } \ +} + + +/** + * @brief Pack a watchdog_heartbeat 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 watchdog_id Watchdog ID + * @param process_count Number of processes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t watchdog_id, uint16_t process_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_count); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); +#else + mavlink_watchdog_heartbeat_t packet; + packet.watchdog_id = watchdog_id; + packet.process_count = process_count; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; + return mavlink_finalize_message(msg, system_id, component_id, 4); +} + +/** + * @brief Pack a watchdog_heartbeat 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 watchdog_id Watchdog ID + * @param process_count Number of processes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t watchdog_id,uint16_t process_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_count); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4); +#else + mavlink_watchdog_heartbeat_t packet; + packet.watchdog_id = watchdog_id; + packet.process_count = process_count; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4); +#endif + + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4); +} + +/** + * @brief Encode a watchdog_heartbeat 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 watchdog_heartbeat C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_watchdog_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_heartbeat_t* watchdog_heartbeat) +{ + return mavlink_msg_watchdog_heartbeat_pack(system_id, component_id, msg, watchdog_heartbeat->watchdog_id, watchdog_heartbeat->process_count); +} + +/** + * @brief Send a watchdog_heartbeat message + * @param chan MAVLink channel to send the message + * + * @param watchdog_id Watchdog ID + * @param process_count Number of processes + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[4]; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_count); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, buf, 4); +#else + mavlink_watchdog_heartbeat_t packet; + packet.watchdog_id = watchdog_id; + packet.process_count = process_count; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, (const char *)&packet, 4); +#endif +} + +#endif + +// MESSAGE WATCHDOG_HEARTBEAT UNPACKING + + +/** + * @brief Get field watchdog_id from watchdog_heartbeat message + * + * @return Watchdog ID + */ +static inline uint16_t mavlink_msg_watchdog_heartbeat_get_watchdog_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field process_count from watchdog_heartbeat message + * + * @return Number of processes + */ +static inline uint16_t mavlink_msg_watchdog_heartbeat_get_process_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Decode a watchdog_heartbeat message into a struct + * + * @param msg The message to decode + * @param watchdog_heartbeat C-struct to decode the message contents into + */ +static inline void mavlink_msg_watchdog_heartbeat_decode(const mavlink_message_t* msg, mavlink_watchdog_heartbeat_t* watchdog_heartbeat) +{ +#if MAVLINK_NEED_BYTE_SWAP + watchdog_heartbeat->watchdog_id = mavlink_msg_watchdog_heartbeat_get_watchdog_id(msg); + watchdog_heartbeat->process_count = mavlink_msg_watchdog_heartbeat_get_process_count(msg); +#else + memcpy(watchdog_heartbeat, _MAV_PAYLOAD(msg), 4); +#endif +} |