Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Diff: MAVlink/include/common/mavlink_msg_safety_allowed_area.h
- Revision:
- 0:826c6171fc1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_safety_allowed_area.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,233 @@ +// MESSAGE SAFETY_ALLOWED_AREA PACKING + +#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA 54 + +typedef struct __mavlink_safety_allowed_area_t +{ + uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + float p1x; ///< x position 1 / Latitude 1 + float p1y; ///< y position 1 / Longitude 1 + float p1z; ///< z position 1 / Altitude 1 + float p2x; ///< x position 2 / Latitude 2 + float p2y; ///< y position 2 / Longitude 2 + float p2z; ///< z position 2 / Altitude 2 + +} mavlink_safety_allowed_area_t; + + + +/** + * @brief Pack a safety_allowed_area 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 frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + * @param p1x x position 1 / Latitude 1 + * @param p1y y position 1 / Longitude 1 + * @param p1z z position 1 / Altitude 1 + * @param p2x x position 2 / Latitude 2 + * @param p2y y position 2 / Longitude 2 + * @param p2z z position 2 / Altitude 2 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA; + + i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1 + i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1 + i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1 + i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2 + i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2 + i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2 + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a safety_allowed_area 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 frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + * @param p1x x position 1 / Latitude 1 + * @param p1y y position 1 / Longitude 1 + * @param p1z z position 1 / Altitude 1 + * @param p2x x position 2 / Latitude 2 + * @param p2y y position 2 / Longitude 2 + * @param p2z z position 2 / Altitude 2 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA; + + i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1 + i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1 + i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1 + i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2 + i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2 + i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2 + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a safety_allowed_area 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 safety_allowed_area C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_safety_allowed_area_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_safety_allowed_area_t* safety_allowed_area) +{ + return mavlink_msg_safety_allowed_area_pack(system_id, component_id, msg, safety_allowed_area->frame, safety_allowed_area->p1x, safety_allowed_area->p1y, safety_allowed_area->p1z, safety_allowed_area->p2x, safety_allowed_area->p2y, safety_allowed_area->p2z); +} + +/** + * @brief Send a safety_allowed_area message + * @param chan MAVLink channel to send the message + * + * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + * @param p1x x position 1 / Latitude 1 + * @param p1y y position 1 / Longitude 1 + * @param p1z z position 1 / Altitude 1 + * @param p2x x position 2 / Latitude 2 + * @param p2y y position 2 / Longitude 2 + * @param p2z z position 2 / Altitude 2 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +{ + mavlink_message_t msg; + mavlink_msg_safety_allowed_area_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, frame, p1x, p1y, p1z, p2x, p2y, p2z); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE SAFETY_ALLOWED_AREA UNPACKING + +/** + * @brief Get field frame from safety_allowed_area message + * + * @return Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. + */ +static inline uint8_t mavlink_msg_safety_allowed_area_get_frame(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field p1x from safety_allowed_area message + * + * @return x position 1 / Latitude 1 + */ +static inline float mavlink_msg_safety_allowed_area_get_p1x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t))[0]; + r.b[2] = (msg->payload+sizeof(uint8_t))[1]; + r.b[1] = (msg->payload+sizeof(uint8_t))[2]; + r.b[0] = (msg->payload+sizeof(uint8_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field p1y from safety_allowed_area message + * + * @return y position 1 / Longitude 1 + */ +static inline float mavlink_msg_safety_allowed_area_get_p1y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field p1z from safety_allowed_area message + * + * @return z position 1 / Altitude 1 + */ +static inline float mavlink_msg_safety_allowed_area_get_p1z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field p2x from safety_allowed_area message + * + * @return x position 2 / Latitude 2 + */ +static inline float mavlink_msg_safety_allowed_area_get_p2x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field p2y from safety_allowed_area message + * + * @return y position 2 / Longitude 2 + */ +static inline float mavlink_msg_safety_allowed_area_get_p2y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field p2z from safety_allowed_area message + * + * @return z position 2 / Altitude 2 + */ +static inline float mavlink_msg_safety_allowed_area_get_p2z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a safety_allowed_area message into a struct + * + * @param msg The message to decode + * @param safety_allowed_area C-struct to decode the message contents into + */ +static inline void mavlink_msg_safety_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_allowed_area_t* safety_allowed_area) +{ + safety_allowed_area->frame = mavlink_msg_safety_allowed_area_get_frame(msg); + safety_allowed_area->p1x = mavlink_msg_safety_allowed_area_get_p1x(msg); + safety_allowed_area->p1y = mavlink_msg_safety_allowed_area_get_p1y(msg); + safety_allowed_area->p1z = mavlink_msg_safety_allowed_area_get_p1z(msg); + safety_allowed_area->p2x = mavlink_msg_safety_allowed_area_get_p2x(msg); + safety_allowed_area->p2y = mavlink_msg_safety_allowed_area_get_p2y(msg); + safety_allowed_area->p2z = mavlink_msg_safety_allowed_area_get_p2z(msg); +}