/Modules/MAVLink/common/mavlink_msg_encapsulated_data.h

https://gitlab.com/krucios/Astraeus_FW · C Header · 229 lines · 133 code · 22 blank · 74 comment · 6 complexity · cddd030882005564416819919b53625e MD5 · raw file 

    

  1. // MESSAGE ENCAPSULATED_DATA PACKING
    2. 

  2. 

  3. #define MAVLINK_MSG_ID_ENCAPSULATED_DATA 131
    4. 

  4. 

  5. MAVPACKED(
    6. 

  6. typedef struct __mavlink_encapsulated_data_t {
    7. 

  7.  uint16_t seqnr; /*< sequence number (starting with 0 on every transmission)*/
    8. 

  8.  uint8_t data[253]; /*< image data bytes*/
    9. 

  9. }) mavlink_encapsulated_data_t;
    10. 

  10. 

  11. #define MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN 255
    12. 

  12. #define MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN 255
    13. 

  13. #define MAVLINK_MSG_ID_131_LEN 255
    14. 

  14. #define MAVLINK_MSG_ID_131_MIN_LEN 255
    15. 

  15. 

  16. #define MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC 223
    17. 

  17. #define MAVLINK_MSG_ID_131_CRC 223
    18. 

  18. 

  19. #define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253
    20. 

  20. 

  21. #if MAVLINK_COMMAND_24BIT
    22. 

  22. #define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
    23. 

  23. 	131, \
    24. 

  24. 	"ENCAPSULATED_DATA", \
    25. 

  25. 	2, \
    26. 

  26. 	{  { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
    27. 

  27.          { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
    28. 

  28.          } \
    29. 

  29. }
    30. 

  30. #else
    31. 

  31. #define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
    32. 

  32. 	"ENCAPSULATED_DATA", \
    33. 

  33. 	2, \
    34. 

  34. 	{  { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
    35. 

  35.          { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
    36. 

  36.          } \
    37. 

  37. }
    38. 

  38. #endif
    39. 

  39. 

  40. /**
    41. 

  41.  * @brief Pack a encapsulated_data message
    42. 

  42.  * @param system_id ID of this system
    43. 

  43.  * @param component_id ID of this component (e.g. 200 for IMU)
    44. 

  44.  * @param msg The MAVLink message to compress the data into
    45. 

  45.  *
    46. 

  46.  * @param seqnr sequence number (starting with 0 on every transmission)
    47. 

  47.  * @param data image data bytes
    48. 

  48.  * @return length of the message in bytes (excluding serial stream start sign)
    49. 

  49.  */
    50. 

  50. static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
    51. 

  51. 						       uint16_t seqnr, const uint8_t *data)
    52. 

  52. {
    53. 

  53. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    54. 

  54. 	char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
    55. 

  55. 	_mav_put_uint16_t(buf, 0, seqnr);
    56. 

  56. 	_mav_put_uint8_t_array(buf, 2, data, 253);
    57. 

  57.         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
    58. 

  58. #else
    59. 

  59. 	mavlink_encapsulated_data_t packet;
    60. 

  60. 	packet.seqnr = seqnr;
    61. 

  61. 	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
    62. 

  62.         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
    63. 

  63. #endif
    64. 

  64. 

  65. 	msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
    66. 

  66.     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
    67. 

  67. }
    68. 

  68. 

  69. /**
    70. 

  70.  * @brief Pack a encapsulated_data message on a channel
    71. 

  71.  * @param system_id ID of this system
    72. 

  72.  * @param component_id ID of this component (e.g. 200 for IMU)
    73. 

  73.  * @param chan The MAVLink channel this message will be sent over
    74. 

  74.  * @param msg The MAVLink message to compress the data into
    75. 

  75.  * @param seqnr sequence number (starting with 0 on every transmission)
    76. 

  76.  * @param data image data bytes
    77. 

  77.  * @return length of the message in bytes (excluding serial stream start sign)
    78. 

  78.  */
    79. 

  79. static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
    80. 

  80. 							   mavlink_message_t* msg,
    81. 

  81. 						           uint16_t seqnr,const uint8_t *data)
    82. 

  82. {
    83. 

  83. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    84. 

  84. 	char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
    85. 

  85. 	_mav_put_uint16_t(buf, 0, seqnr);
    86. 

  86. 	_mav_put_uint8_t_array(buf, 2, data, 253);
    87. 

  87.         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
    88. 

  88. #else
    89. 

  89. 	mavlink_encapsulated_data_t packet;
    90. 

  90. 	packet.seqnr = seqnr;
    91. 

  91. 	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
    92. 

  92.         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
    93. 

  93. #endif
    94. 

  94. 

  95. 	msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
    96. 

  96.     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
    97. 

  97. }
    98. 

  98. 

  99. /**
    100. 

  100.  * @brief Encode a encapsulated_data struct
    101. 

  101.  *
    102. 

  102.  * @param system_id ID of this system
    103. 

  103.  * @param component_id ID of this component (e.g. 200 for IMU)
    104. 

  104.  * @param msg The MAVLink message to compress the data into
    105. 

  105.  * @param encapsulated_data C-struct to read the message contents from
    106. 

  106.  */
    107. 

  107. static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
    108. 

  108. {
    109. 

  109. 	return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data);
    110. 

  110. }
    111. 

  111. 

  112. /**
    113. 

  113.  * @brief Encode a encapsulated_data struct on a channel
    114. 

  114.  *
    115. 

  115.  * @param system_id ID of this system
    116. 

  116.  * @param component_id ID of this component (e.g. 200 for IMU)
    117. 

  117.  * @param chan The MAVLink channel this message will be sent over
    118. 

  118.  * @param msg The MAVLink message to compress the data into
    119. 

  119.  * @param encapsulated_data C-struct to read the message contents from
    120. 

  120.  */
    121. 

  121. static inline uint16_t mavlink_msg_encapsulated_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
    122. 

  122. {
    123. 

  123. 	return mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, chan, msg, encapsulated_data->seqnr, encapsulated_data->data);
    124. 

  124. }
    125. 

  125. 

  126. /**
    127. 

  127.  * @brief Send a encapsulated_data message
    128. 

  128.  * @param chan MAVLink channel to send the message
    129. 

  129.  *
    130. 

  130.  * @param seqnr sequence number (starting with 0 on every transmission)
    131. 

  131.  * @param data image data bytes
    132. 

  132.  */
    133. 

  133. #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
    134. 

  134. 

  135. static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
    136. 

  136. {
    137. 

  137. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    138. 

  138. 	char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
    139. 

  139. 	_mav_put_uint16_t(buf, 0, seqnr);
    140. 

  140. 	_mav_put_uint8_t_array(buf, 2, data, 253);
    141. 

  141.     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
    142. 

  142. #else
    143. 

  143. 	mavlink_encapsulated_data_t packet;
    144. 

  144. 	packet.seqnr = seqnr;
    145. 

  145. 	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
    146. 

  146.     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
    147. 

  147. #endif
    148. 

  148. }
    149. 

  149. 

  150. /**
    151. 

  151.  * @brief Send a encapsulated_data message
    152. 

  152.  * @param chan MAVLink channel to send the message
    153. 

  153.  * @param struct The MAVLink struct to serialize
    154. 

  154.  */
    155. 

  155. static inline void mavlink_msg_encapsulated_data_send_struct(mavlink_channel_t chan, const mavlink_encapsulated_data_t* encapsulated_data)
    156. 

  156. {
    157. 

  157. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    158. 

  158.     mavlink_msg_encapsulated_data_send(chan, encapsulated_data->seqnr, encapsulated_data->data);
    159. 

  159. #else
    160. 

  160.     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)encapsulated_data, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
    161. 

  161. #endif
    162. 

  162. }
    163. 

  163. 

  164. #if MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
    165. 

  165. /*
    166. 

  166.   This varient of _send() can be used to save stack space by re-using
    167. 

  167.   memory from the receive buffer.  The caller provides a
    168. 

  168.   mavlink_message_t which is the size of a full mavlink message. This
    169. 

  169.   is usually the receive buffer for the channel, and allows a reply to an
    170. 

  170.   incoming message with minimum stack space usage.
    171. 

  171.  */
    172. 

  172. static inline void mavlink_msg_encapsulated_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t seqnr, const uint8_t *data)
    173. 

  173. {
    174. 

  174. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    175. 

  175. 	char *buf = (char *)msgbuf;
    176. 

  176. 	_mav_put_uint16_t(buf, 0, seqnr);
    177. 

  177. 	_mav_put_uint8_t_array(buf, 2, data, 253);
    178. 

  178.     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
    179. 

  179. #else
    180. 

  180. 	mavlink_encapsulated_data_t *packet = (mavlink_encapsulated_data_t *)msgbuf;
    181. 

  181. 	packet->seqnr = seqnr;
    182. 

  182. 	mav_array_memcpy(packet->data, data, sizeof(uint8_t)*253);
    183. 

  183.     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
    184. 

  184. #endif
    185. 

  185. }
    186. 

  186. #endif
    187. 

  187. 

  188. #endif
    189. 

  189. 

  190. // MESSAGE ENCAPSULATED_DATA UNPACKING
    191. 

  191. 

  192. 

  193. /**
    194. 

  194.  * @brief Get field seqnr from encapsulated_data message
    195. 

  195.  *
    196. 

  196.  * @return sequence number (starting with 0 on every transmission)
    197. 

  197.  */
    198. 

  198. static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg)
    199. 

  199. {
    200. 

  200. 	return _MAV_RETURN_uint16_t(msg,  0);
    201. 

  201. }
    202. 

  202. 

  203. /**
    204. 

  204.  * @brief Get field data from encapsulated_data message
    205. 

  205.  *
    206. 

  206.  * @return image data bytes
    207. 

  207.  */
    208. 

  208. static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t *data)
    209. 

  209. {
    210. 

  210. 	return _MAV_RETURN_uint8_t_array(msg, data, 253,  2);
    211. 

  211. }
    212. 

  212. 

  213. /**
    214. 

  214.  * @brief Decode a encapsulated_data message into a struct
    215. 

  215.  *
    216. 

  216.  * @param msg The message to decode
    217. 

  217.  * @param encapsulated_data C-struct to decode the message contents into
    218. 

  218.  */
    219. 

  219. static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data)
    220. 

  220. {
    221. 

  221. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    222. 

  222. 	encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg);
    223. 

  223. 	mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data);
    224. 

  224. #else
    225. 

  225.         uint8_t len = msg->len < MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN? msg->len : MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN;
    226. 

  226.         memset(encapsulated_data, 0, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
    227. 

  227. 	memcpy(encapsulated_data, _MAV_PAYLOAD(msg), len);
    228. 

  228. #endif
    229. 

  229. }
    230.