diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h | 100 |
1 files changed, 38 insertions, 62 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h index 536ca0634..b10ae2b1d 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h @@ -2,25 +2,29 @@ #define MAVLINK_MSG_ID_STATUSTEXT 253 -typedef struct __mavlink_statustext_t -{ - uint8_t severity; ///< Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. - char text[50]; ///< Status text message, without null termination character -} mavlink_statustext_t; - #define MAVLINK_MSG_ID_STATUSTEXT_LEN 51 -#define MAVLINK_MSG_ID_253_LEN 51 +#define MAVLINK_MSG_ID_253_LEN MAVLINK_MSG_ID_STATUSTEXT_LEN #define MAVLINK_MSG_ID_STATUSTEXT_CRC 83 -#define MAVLINK_MSG_ID_253_CRC 83 +#define MAVLINK_MSG_ID_253_CRC MAVLINK_MSG_ID_STATUSTEXT_CRC -#define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50 +#define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 49 ///< Length in bytes + +#define MAVLINK_MSG_STATUSTEXT_VARLEN_BYTES 1 + +typedef struct __mavlink_statustext_t +{ + uint8_t severity; ///< Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. + char text[49]; ///< Status text message, without null termination character + uint8_t _field_len_text; ///< Length of status text message +} mavlink_statustext_t; #define MAVLINK_MESSAGE_INFO_STATUSTEXT { \ "STATUSTEXT", \ - 2, \ + 3, \ { { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \ - { "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \ + { "text", NULL, MAVLINK_TYPE_CHAR, -1, -1, -1 }, \ + { "_field_len_text", NULL, MAVLINK_TYPE_UINT8_T, 0, -1, 1 } \ } \ } @@ -38,24 +42,16 @@ typedef struct __mavlink_statustext_t static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t severity, const char *text) { -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + uint8_t _field_len_text; char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN]; _mav_put_uint8_t(buf, 0, severity); - _mav_put_char_array(buf, 1, text, 50); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUSTEXT_LEN); -#else - mavlink_statustext_t packet; - packet.severity = severity; - mav_array_memcpy(packet.text, text, sizeof(char)*50); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUSTEXT_LEN); -#endif + _field_len_text = mav_string_copy(&buf[1], text, sizeof(char)*49); + _mav_put_uint8_t(buf, 1 + _field_len_text, _field_len_text); + uint16_t msglen = 1 + _field_len_text + MAVLINK_MSG_STATUSTEXT_VARLEN_BYTES + MAVLINK_NUM_NON_PAYLOAD_BYTES; + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, msglen); msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC); -#else - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_STATUSTEXT_LEN); -#endif + return mavlink_finalize_message(msg, system_id, component_id, msglen, MAVLINK_MSG_ID_STATUSTEXT_CRC); } /** @@ -72,24 +68,16 @@ static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8 mavlink_message_t* msg, uint8_t severity,const char *text) { -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + uint8_t _field_len_text; char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN]; _mav_put_uint8_t(buf, 0, severity); - _mav_put_char_array(buf, 1, text, 50); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUSTEXT_LEN); -#else - mavlink_statustext_t packet; - packet.severity = severity; - mav_array_memcpy(packet.text, text, sizeof(char)*50); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUSTEXT_LEN); -#endif + _field_len_text = mav_string_copy(&buf[1], text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN); + _mav_put_uint8_t(buf, 1 + _field_len_text, _field_len_text); + uint16_t msglen = 1 + _field_len_text + MAVLINK_MSG_STATUSTEXT_VARLEN_BYTES + MAVLINK_NUM_NON_PAYLOAD_BYTES; + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, msglen); msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC); -#else - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_STATUSTEXT_LEN); -#endif + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, msglen, MAVLINK_MSG_ID_STATUSTEXT_CRC); } /** @@ -130,25 +118,14 @@ static inline uint16_t mavlink_msg_statustext_encode_chan(uint8_t system_id, uin static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text) { -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + uint8_t _field_len_text; char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN]; _mav_put_uint8_t(buf, 0, severity); - _mav_put_char_array(buf, 1, text, 50); -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, MAVLINK_MSG_ID_STATUSTEXT_LEN); -#endif -#else - mavlink_statustext_t packet; - packet.severity = severity; - mav_array_memcpy(packet.text, text, sizeof(char)*50); -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, MAVLINK_MSG_ID_STATUSTEXT_LEN); -#endif -#endif + _field_len_text = mav_string_copy(&buf[1], text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN); + _mav_put_uint8_t(buf, 1 + _field_len_text, _field_len_text); + uint16_t msglen = 1 + _field_len_text + MAVLINK_MSG_STATUSTEXT_VARLEN_BYTES + MAVLINK_NUM_NON_PAYLOAD_BYTES; + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, msglen); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, msglen, MAVLINK_MSG_ID_STATUSTEXT_CRC); } #endif @@ -173,7 +150,8 @@ static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_ */ static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, char *text) { - return _MAV_RETURN_char_array(msg, text, 50, 1); + uint8_t len = _MAV_RETURN_uint8_t(msg, msg->len - MAVLINK_MSG_STATUSTEXT_VARLEN_BYTES + 0); + return _MAV_RETURN_char_array(msg, text, len, 1); } /** @@ -184,10 +162,8 @@ static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* */ static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext) { -#if MAVLINK_NEED_BYTE_SWAP + statustext->_field_len_text = _MAV_RETURN_uint8_t(msg, msg->len - MAVLINK_MSG_STATUSTEXT_VARLEN_BYTES + 0); statustext->severity = mavlink_msg_statustext_get_severity(msg); - mavlink_msg_statustext_get_text(msg, statustext->text); -#else - memcpy(statustext, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_STATUSTEXT_LEN); -#endif + /* copy the string, but at maximum to the full field length or the announced string length, depending on which is shorter */ + strncpy(statustext->text, _MAV_PAYLOAD(msg+1), (statustext->_field_len_text < MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN) ? statustext->_field_len_text : MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN); } |