Diff: MAVlink/include/common/mavlink_msg_ping.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_ping.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,166 @@
+// MESSAGE PING PACKING
+
+#define MAVLINK_MSG_ID_PING 3
+
+typedef struct __mavlink_ping_t 
+{
+	uint32_t seq; ///< PING sequence
+	uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+	uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+	uint64_t time; ///< Unix timestamp in microseconds
+
+} mavlink_ping_t;
+
+
+
+/**
+ * @brief Pack a ping 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 seq PING sequence
+ * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+ * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+ * @param time Unix timestamp in microseconds
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_PING;
+
+	i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence
+	i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+	i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+	i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a ping message
+ * @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 seq PING sequence
+ * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+ * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+ * @param time Unix timestamp in microseconds
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_PING;
+
+	i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence
+	i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+	i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+	i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a ping 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 ping C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
+{
+	return mavlink_msg_ping_pack(system_id, component_id, msg, ping->seq, ping->target_system, ping->target_component, ping->time);
+}
+
+/**
+ * @brief Send a ping message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param seq PING sequence
+ * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+ * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+ * @param time Unix timestamp in microseconds
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
+{
+	mavlink_message_t msg;
+	mavlink_msg_ping_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq, target_system, target_component, time);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE PING UNPACKING
+
+/**
+ * @brief Get field seq from ping message
+ *
+ * @return PING sequence
+ */
+static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload)[0];
+	r.b[2] = (msg->payload)[1];
+	r.b[1] = (msg->payload)[2];
+	r.b[0] = (msg->payload)[3];
+	return (uint32_t)r.i;
+}
+
+/**
+ * @brief Get field target_system from ping message
+ *
+ * @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+ */
+static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint32_t))[0];
+}
+
+/**
+ * @brief Get field target_component from ping message
+ *
+ * @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+ */
+static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field time from ping message
+ *
+ * @return Unix timestamp in microseconds
+ */
+static inline uint64_t mavlink_msg_ping_get_time(const mavlink_message_t* msg)
+{
+	generic_64bit r;
+	r.b[7] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+	r.b[6] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
+	r.b[5] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
+	r.b[4] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
+	r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[4];
+	r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[5];
+	r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[6];
+	r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[7];
+	return (uint64_t)r.ll;
+}
+
+/**
+ * @brief Decode a ping message into a struct
+ *
+ * @param msg The message to decode
+ * @param ping C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
+{
+	ping->seq = mavlink_msg_ping_get_seq(msg);
+	ping->target_system = mavlink_msg_ping_get_target_system(msg);
+	ping->target_component = mavlink_msg_ping_get_target_component(msg);
+	ping->time = mavlink_msg_ping_get_time(msg);
+}