Diff: MAVlink/include/pixhawk/mavlink_msg_encapsulated_data.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/pixhawk/mavlink_msg_encapsulated_data.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,124 @@
+// MESSAGE ENCAPSULATED_DATA PACKING
+
+#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 171
+
+typedef struct __mavlink_encapsulated_data_t 
+{
+	uint16_t seqnr; ///< sequence number (starting with 0 on every transmission)
+	uint8_t data[253]; ///< image data bytes
+
+} mavlink_encapsulated_data_t;
+
+#define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253
+
+
+/**
+ * @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission)
+ * @param data image data bytes
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
+
+	i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission)
+	i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission)
+ * @param data image data bytes
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
+
+	i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission)
+	i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a encapsulated_data 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 encapsulated_data C-struct to read the message contents from
+ */
+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)
+{
+	return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data);
+}
+
+/**
+ * @brief Send a encapsulated_data message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param seqnr sequence number (starting with 0 on every transmission)
+ * @param data image data bytes
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t* data)
+{
+	mavlink_message_t msg;
+	mavlink_msg_encapsulated_data_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seqnr, data);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE ENCAPSULATED_DATA UNPACKING
+
+/**
+ * @brief Get field seqnr from encapsulated_data message
+ *
+ * @return sequence number (starting with 0 on every transmission)
+ */
+static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload)[0];
+	r.b[0] = (msg->payload)[1];
+	return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field data from encapsulated_data message
+ *
+ * @return image data bytes
+ */
+static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t* r_data)
+{
+
+	memcpy(r_data, msg->payload+sizeof(uint16_t), sizeof(uint8_t)*253);
+	return sizeof(uint8_t)*253;
+}
+
+/**
+ * @brief Decode a encapsulated_data message into a struct
+ *
+ * @param msg The message to decode
+ * @param encapsulated_data C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data)
+{
+	encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg);
+	mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data);
+}