diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h | 309 |
1 files changed, 309 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h new file mode 100644 index 000000000..fdd8fddd8 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h @@ -0,0 +1,309 @@ +// MESSAGE DATA_TRANSMISSION_HANDSHAKE PACKING + +#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE 130 + +typedef struct __mavlink_data_transmission_handshake_t +{ + uint32_t size; ///< total data size in bytes (set on ACK only) + uint16_t width; ///< Width of a matrix or image + uint16_t height; ///< Height of a matrix or image + uint16_t packets; ///< number of packets beeing sent (set on ACK only) + uint8_t type; ///< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + uint8_t payload; ///< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + uint8_t jpg_quality; ///< JPEG quality out of [1,100] +} mavlink_data_transmission_handshake_t; + +#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN 13 +#define MAVLINK_MSG_ID_130_LEN 13 + +#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC 29 +#define MAVLINK_MSG_ID_130_CRC 29 + + + +#define MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE { \ + "DATA_TRANSMISSION_HANDSHAKE", \ + 7, \ + { { "size", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_data_transmission_handshake_t, size) }, \ + { "width", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_data_transmission_handshake_t, width) }, \ + { "height", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_data_transmission_handshake_t, height) }, \ + { "packets", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_data_transmission_handshake_t, packets) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_data_transmission_handshake_t, type) }, \ + { "payload", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_data_transmission_handshake_t, payload) }, \ + { "jpg_quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_data_transmission_handshake_t, jpg_quality) }, \ + } \ +} + + +/** + * @brief Pack a data_transmission_handshake 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 type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + * @param size total data size in bytes (set on ACK only) + * @param width Width of a matrix or image + * @param height Height of a matrix or image + * @param packets number of packets beeing sent (set on ACK only) + * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + * @param jpg_quality JPEG quality out of [1,100] + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint16_t packets, uint8_t payload, uint8_t jpg_quality) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN]; + _mav_put_uint32_t(buf, 0, size); + _mav_put_uint16_t(buf, 4, width); + _mav_put_uint16_t(buf, 6, height); + _mav_put_uint16_t(buf, 8, packets); + _mav_put_uint8_t(buf, 10, type); + _mav_put_uint8_t(buf, 11, payload); + _mav_put_uint8_t(buf, 12, jpg_quality); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN); +#else + mavlink_data_transmission_handshake_t packet; + packet.size = size; + packet.width = width; + packet.height = height; + packet.packets = packets; + packet.type = type; + packet.payload = payload; + packet.jpg_quality = jpg_quality; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN); +#endif +} + +/** + * @brief Pack a data_transmission_handshake 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 type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + * @param size total data size in bytes (set on ACK only) + * @param width Width of a matrix or image + * @param height Height of a matrix or image + * @param packets number of packets beeing sent (set on ACK only) + * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + * @param jpg_quality JPEG quality out of [1,100] + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t type,uint32_t size,uint16_t width,uint16_t height,uint16_t packets,uint8_t payload,uint8_t jpg_quality) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN]; + _mav_put_uint32_t(buf, 0, size); + _mav_put_uint16_t(buf, 4, width); + _mav_put_uint16_t(buf, 6, height); + _mav_put_uint16_t(buf, 8, packets); + _mav_put_uint8_t(buf, 10, type); + _mav_put_uint8_t(buf, 11, payload); + _mav_put_uint8_t(buf, 12, jpg_quality); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN); +#else + mavlink_data_transmission_handshake_t packet; + packet.size = size; + packet.width = width; + packet.height = height; + packet.packets = packets; + packet.type = type; + packet.payload = payload; + packet.jpg_quality = jpg_quality; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN); +#endif +} + +/** + * @brief Encode a data_transmission_handshake 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_transmission_handshake C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data_transmission_handshake_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_transmission_handshake_t* data_transmission_handshake) +{ + return mavlink_msg_data_transmission_handshake_pack(system_id, component_id, msg, data_transmission_handshake->type, data_transmission_handshake->size, data_transmission_handshake->width, data_transmission_handshake->height, data_transmission_handshake->packets, data_transmission_handshake->payload, data_transmission_handshake->jpg_quality); +} + +/** + * @brief Encode a data_transmission_handshake 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_transmission_handshake C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data_transmission_handshake_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data_transmission_handshake_t* data_transmission_handshake) +{ + return mavlink_msg_data_transmission_handshake_pack_chan(system_id, component_id, chan, msg, data_transmission_handshake->type, data_transmission_handshake->size, data_transmission_handshake->width, data_transmission_handshake->height, data_transmission_handshake->packets, data_transmission_handshake->payload, data_transmission_handshake->jpg_quality); +} + +/** + * @brief Send a data_transmission_handshake message + * @param chan MAVLink channel to send the message + * + * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + * @param size total data size in bytes (set on ACK only) + * @param width Width of a matrix or image + * @param height Height of a matrix or image + * @param packets number of packets beeing sent (set on ACK only) + * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + * @param jpg_quality JPEG quality out of [1,100] + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_t chan, uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint16_t packets, uint8_t payload, uint8_t jpg_quality) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN]; + _mav_put_uint32_t(buf, 0, size); + _mav_put_uint16_t(buf, 4, width); + _mav_put_uint16_t(buf, 6, height); + _mav_put_uint16_t(buf, 8, packets); + _mav_put_uint8_t(buf, 10, type); + _mav_put_uint8_t(buf, 11, payload); + _mav_put_uint8_t(buf, 12, jpg_quality); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN); +#endif +#else + mavlink_data_transmission_handshake_t packet; + packet.size = size; + packet.width = width; + packet.height = height; + packet.packets = packets; + packet.type = type; + packet.payload = payload; + packet.jpg_quality = jpg_quality; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)&packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)&packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN); +#endif +#endif +} + +#endif + +// MESSAGE DATA_TRANSMISSION_HANDSHAKE UNPACKING + + +/** + * @brief Get field type from data_transmission_handshake message + * + * @return type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) + */ +static inline uint8_t mavlink_msg_data_transmission_handshake_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 10); +} + +/** + * @brief Get field size from data_transmission_handshake message + * + * @return total data size in bytes (set on ACK only) + */ +static inline uint32_t mavlink_msg_data_transmission_handshake_get_size(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field width from data_transmission_handshake message + * + * @return Width of a matrix or image + */ +static inline uint16_t mavlink_msg_data_transmission_handshake_get_width(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field height from data_transmission_handshake message + * + * @return Height of a matrix or image + */ +static inline uint16_t mavlink_msg_data_transmission_handshake_get_height(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Get field packets from data_transmission_handshake message + * + * @return number of packets beeing sent (set on ACK only) + */ +static inline uint16_t mavlink_msg_data_transmission_handshake_get_packets(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field payload from data_transmission_handshake message + * + * @return payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) + */ +static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 11); +} + +/** + * @brief Get field jpg_quality from data_transmission_handshake message + * + * @return JPEG quality out of [1,100] + */ +static inline uint8_t mavlink_msg_data_transmission_handshake_get_jpg_quality(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 12); +} + +/** + * @brief Decode a data_transmission_handshake message into a struct + * + * @param msg The message to decode + * @param data_transmission_handshake C-struct to decode the message contents into + */ +static inline void mavlink_msg_data_transmission_handshake_decode(const mavlink_message_t* msg, mavlink_data_transmission_handshake_t* data_transmission_handshake) +{ +#if MAVLINK_NEED_BYTE_SWAP + data_transmission_handshake->size = mavlink_msg_data_transmission_handshake_get_size(msg); + data_transmission_handshake->width = mavlink_msg_data_transmission_handshake_get_width(msg); + data_transmission_handshake->height = mavlink_msg_data_transmission_handshake_get_height(msg); + data_transmission_handshake->packets = mavlink_msg_data_transmission_handshake_get_packets(msg); + data_transmission_handshake->type = mavlink_msg_data_transmission_handshake_get_type(msg); + data_transmission_handshake->payload = mavlink_msg_data_transmission_handshake_get_payload(msg); + data_transmission_handshake->jpg_quality = mavlink_msg_data_transmission_handshake_get_jpg_quality(msg); +#else + memcpy(data_transmission_handshake, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN); +#endif +} |