Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
MAVlink/include/common/mavlink_msg_statustext.h@0:826c6171fc1b, 2012-06-20 (annotated)
- Committer:
- shimniok
- Date:
- Wed Jun 20 14:57:48 2012 +0000
- Revision:
- 0:826c6171fc1b
Updated documentation
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:826c6171fc1b | 1 | // MESSAGE STATUSTEXT PACKING |
shimniok | 0:826c6171fc1b | 2 | |
shimniok | 0:826c6171fc1b | 3 | #define MAVLINK_MSG_ID_STATUSTEXT 254 |
shimniok | 0:826c6171fc1b | 4 | |
shimniok | 0:826c6171fc1b | 5 | typedef struct __mavlink_statustext_t |
shimniok | 0:826c6171fc1b | 6 | { |
shimniok | 0:826c6171fc1b | 7 | uint8_t severity; ///< Severity of status, 0 = info message, 255 = critical fault |
shimniok | 0:826c6171fc1b | 8 | int8_t text[50]; ///< Status text message, without null termination character |
shimniok | 0:826c6171fc1b | 9 | |
shimniok | 0:826c6171fc1b | 10 | } mavlink_statustext_t; |
shimniok | 0:826c6171fc1b | 11 | |
shimniok | 0:826c6171fc1b | 12 | #define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50 |
shimniok | 0:826c6171fc1b | 13 | |
shimniok | 0:826c6171fc1b | 14 | |
shimniok | 0:826c6171fc1b | 15 | /** |
shimniok | 0:826c6171fc1b | 16 | * @brief Pack a statustext message |
shimniok | 0:826c6171fc1b | 17 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 18 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 19 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 20 | * |
shimniok | 0:826c6171fc1b | 21 | * @param severity Severity of status, 0 = info message, 255 = critical fault |
shimniok | 0:826c6171fc1b | 22 | * @param text Status text message, without null termination character |
shimniok | 0:826c6171fc1b | 23 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 24 | */ |
shimniok | 0:826c6171fc1b | 25 | static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t severity, const int8_t* text) |
shimniok | 0:826c6171fc1b | 26 | { |
shimniok | 0:826c6171fc1b | 27 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 28 | msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; |
shimniok | 0:826c6171fc1b | 29 | |
shimniok | 0:826c6171fc1b | 30 | i += put_uint8_t_by_index(severity, i, msg->payload); // Severity of status, 0 = info message, 255 = critical fault |
shimniok | 0:826c6171fc1b | 31 | i += put_array_by_index((const int8_t*)text, sizeof(int8_t)*50, i, msg->payload); // Status text message, without null termination character |
shimniok | 0:826c6171fc1b | 32 | |
shimniok | 0:826c6171fc1b | 33 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:826c6171fc1b | 34 | } |
shimniok | 0:826c6171fc1b | 35 | |
shimniok | 0:826c6171fc1b | 36 | /** |
shimniok | 0:826c6171fc1b | 37 | * @brief Pack a statustext message |
shimniok | 0:826c6171fc1b | 38 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 39 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 40 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:826c6171fc1b | 41 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 42 | * @param severity Severity of status, 0 = info message, 255 = critical fault |
shimniok | 0:826c6171fc1b | 43 | * @param text Status text message, without null termination character |
shimniok | 0:826c6171fc1b | 44 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 45 | */ |
shimniok | 0:826c6171fc1b | 46 | static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t severity, const int8_t* text) |
shimniok | 0:826c6171fc1b | 47 | { |
shimniok | 0:826c6171fc1b | 48 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 49 | msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; |
shimniok | 0:826c6171fc1b | 50 | |
shimniok | 0:826c6171fc1b | 51 | i += put_uint8_t_by_index(severity, i, msg->payload); // Severity of status, 0 = info message, 255 = critical fault |
shimniok | 0:826c6171fc1b | 52 | i += put_array_by_index((const int8_t*)text, sizeof(int8_t)*50, i, msg->payload); // Status text message, without null termination character |
shimniok | 0:826c6171fc1b | 53 | |
shimniok | 0:826c6171fc1b | 54 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:826c6171fc1b | 55 | } |
shimniok | 0:826c6171fc1b | 56 | |
shimniok | 0:826c6171fc1b | 57 | /** |
shimniok | 0:826c6171fc1b | 58 | * @brief Encode a statustext struct into a message |
shimniok | 0:826c6171fc1b | 59 | * |
shimniok | 0:826c6171fc1b | 60 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 61 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 62 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 63 | * @param statustext C-struct to read the message contents from |
shimniok | 0:826c6171fc1b | 64 | */ |
shimniok | 0:826c6171fc1b | 65 | static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_statustext_t* statustext) |
shimniok | 0:826c6171fc1b | 66 | { |
shimniok | 0:826c6171fc1b | 67 | return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text); |
shimniok | 0:826c6171fc1b | 68 | } |
shimniok | 0:826c6171fc1b | 69 | |
shimniok | 0:826c6171fc1b | 70 | /** |
shimniok | 0:826c6171fc1b | 71 | * @brief Send a statustext message |
shimniok | 0:826c6171fc1b | 72 | * @param chan MAVLink channel to send the message |
shimniok | 0:826c6171fc1b | 73 | * |
shimniok | 0:826c6171fc1b | 74 | * @param severity Severity of status, 0 = info message, 255 = critical fault |
shimniok | 0:826c6171fc1b | 75 | * @param text Status text message, without null termination character |
shimniok | 0:826c6171fc1b | 76 | */ |
shimniok | 0:826c6171fc1b | 77 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:826c6171fc1b | 78 | |
shimniok | 0:826c6171fc1b | 79 | static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const int8_t* text) |
shimniok | 0:826c6171fc1b | 80 | { |
shimniok | 0:826c6171fc1b | 81 | mavlink_message_t msg; |
shimniok | 0:826c6171fc1b | 82 | mavlink_msg_statustext_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, severity, text); |
shimniok | 0:826c6171fc1b | 83 | mavlink_send_uart(chan, &msg); |
shimniok | 0:826c6171fc1b | 84 | } |
shimniok | 0:826c6171fc1b | 85 | |
shimniok | 0:826c6171fc1b | 86 | #endif |
shimniok | 0:826c6171fc1b | 87 | // MESSAGE STATUSTEXT UNPACKING |
shimniok | 0:826c6171fc1b | 88 | |
shimniok | 0:826c6171fc1b | 89 | /** |
shimniok | 0:826c6171fc1b | 90 | * @brief Get field severity from statustext message |
shimniok | 0:826c6171fc1b | 91 | * |
shimniok | 0:826c6171fc1b | 92 | * @return Severity of status, 0 = info message, 255 = critical fault |
shimniok | 0:826c6171fc1b | 93 | */ |
shimniok | 0:826c6171fc1b | 94 | static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 95 | { |
shimniok | 0:826c6171fc1b | 96 | return (uint8_t)(msg->payload)[0]; |
shimniok | 0:826c6171fc1b | 97 | } |
shimniok | 0:826c6171fc1b | 98 | |
shimniok | 0:826c6171fc1b | 99 | /** |
shimniok | 0:826c6171fc1b | 100 | * @brief Get field text from statustext message |
shimniok | 0:826c6171fc1b | 101 | * |
shimniok | 0:826c6171fc1b | 102 | * @return Status text message, without null termination character |
shimniok | 0:826c6171fc1b | 103 | */ |
shimniok | 0:826c6171fc1b | 104 | static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, int8_t* r_data) |
shimniok | 0:826c6171fc1b | 105 | { |
shimniok | 0:826c6171fc1b | 106 | |
shimniok | 0:826c6171fc1b | 107 | memcpy(r_data, msg->payload+sizeof(uint8_t), sizeof(int8_t)*50); |
shimniok | 0:826c6171fc1b | 108 | return sizeof(int8_t)*50; |
shimniok | 0:826c6171fc1b | 109 | } |
shimniok | 0:826c6171fc1b | 110 | |
shimniok | 0:826c6171fc1b | 111 | /** |
shimniok | 0:826c6171fc1b | 112 | * @brief Decode a statustext message into a struct |
shimniok | 0:826c6171fc1b | 113 | * |
shimniok | 0:826c6171fc1b | 114 | * @param msg The message to decode |
shimniok | 0:826c6171fc1b | 115 | * @param statustext C-struct to decode the message contents into |
shimniok | 0:826c6171fc1b | 116 | */ |
shimniok | 0:826c6171fc1b | 117 | static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext) |
shimniok | 0:826c6171fc1b | 118 | { |
shimniok | 0:826c6171fc1b | 119 | statustext->severity = mavlink_msg_statustext_get_severity(msg); |
shimniok | 0:826c6171fc1b | 120 | mavlink_msg_statustext_get_text(msg, statustext->text); |
shimniok | 0:826c6171fc1b | 121 | } |