Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
mavlink_msg_change_operator_control.h
00001 // MESSAGE CHANGE_OPERATOR_CONTROL PACKING 00002 00003 #define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL 5 00004 00005 typedef struct __mavlink_change_operator_control_t 00006 { 00007 uint8_t target_system; ///< System the GCS requests control for 00008 uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV 00009 uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. 00010 char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" 00011 00012 } mavlink_change_operator_control_t; 00013 00014 #define MAVLINK_MSG_CHANGE_OPERATOR_CONTROL_FIELD_PASSKEY_LEN 25 00015 00016 00017 /** 00018 * @brief Pack a change_operator_control message 00019 * @param system_id ID of this system 00020 * @param component_id ID of this component (e.g. 200 for IMU) 00021 * @param msg The MAVLink message to compress the data into 00022 * 00023 * @param target_system System the GCS requests control for 00024 * @param control_request 0: request control of this MAV, 1: Release control of this MAV 00025 * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. 00026 * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" 00027 * @return length of the message in bytes (excluding serial stream start sign) 00028 */ 00029 static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey) 00030 { 00031 uint16_t i = 0; 00032 msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL; 00033 00034 i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for 00035 i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV 00036 i += put_uint8_t_by_index(version, i, msg->payload); // 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. 00037 i += put_array_by_index((const int8_t*)passkey, sizeof(char)*25, i, msg->payload); // Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" 00038 00039 return mavlink_finalize_message(msg, system_id, component_id, i); 00040 } 00041 00042 /** 00043 * @brief Pack a change_operator_control message 00044 * @param system_id ID of this system 00045 * @param component_id ID of this component (e.g. 200 for IMU) 00046 * @param chan The MAVLink channel this message was sent over 00047 * @param msg The MAVLink message to compress the data into 00048 * @param target_system System the GCS requests control for 00049 * @param control_request 0: request control of this MAV, 1: Release control of this MAV 00050 * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. 00051 * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" 00052 * @return length of the message in bytes (excluding serial stream start sign) 00053 */ 00054 static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey) 00055 { 00056 uint16_t i = 0; 00057 msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL; 00058 00059 i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for 00060 i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV 00061 i += put_uint8_t_by_index(version, i, msg->payload); // 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. 00062 i += put_array_by_index((const int8_t*)passkey, sizeof(char)*25, i, msg->payload); // Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" 00063 00064 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); 00065 } 00066 00067 /** 00068 * @brief Encode a change_operator_control struct into a message 00069 * 00070 * @param system_id ID of this system 00071 * @param component_id ID of this component (e.g. 200 for IMU) 00072 * @param msg The MAVLink message to compress the data into 00073 * @param change_operator_control C-struct to read the message contents from 00074 */ 00075 static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_t* change_operator_control) 00076 { 00077 return mavlink_msg_change_operator_control_pack(system_id, component_id, msg, change_operator_control->target_system, change_operator_control->control_request, change_operator_control->version, change_operator_control->passkey); 00078 } 00079 00080 /** 00081 * @brief Send a change_operator_control message 00082 * @param chan MAVLink channel to send the message 00083 * 00084 * @param target_system System the GCS requests control for 00085 * @param control_request 0: request control of this MAV, 1: Release control of this MAV 00086 * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. 00087 * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" 00088 */ 00089 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 00090 00091 static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey) 00092 { 00093 mavlink_message_t msg; 00094 mavlink_msg_change_operator_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, control_request, version, passkey); 00095 mavlink_send_uart(chan, &msg); 00096 } 00097 00098 #endif 00099 // MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING 00100 00101 /** 00102 * @brief Get field target_system from change_operator_control message 00103 * 00104 * @return System the GCS requests control for 00105 */ 00106 static inline uint8_t mavlink_msg_change_operator_control_get_target_system(const mavlink_message_t* msg) 00107 { 00108 return (uint8_t)(msg->payload)[0]; 00109 } 00110 00111 /** 00112 * @brief Get field control_request from change_operator_control message 00113 * 00114 * @return 0: request control of this MAV, 1: Release control of this MAV 00115 */ 00116 static inline uint8_t mavlink_msg_change_operator_control_get_control_request(const mavlink_message_t* msg) 00117 { 00118 return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; 00119 } 00120 00121 /** 00122 * @brief Get field version from change_operator_control message 00123 * 00124 * @return 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. 00125 */ 00126 static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavlink_message_t* msg) 00127 { 00128 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; 00129 } 00130 00131 /** 00132 * @brief Get field passkey from change_operator_control message 00133 * 00134 * @return Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" 00135 */ 00136 static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char* r_data) 00137 { 00138 00139 memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t), sizeof(char)*25); 00140 return sizeof(char)*25; 00141 } 00142 00143 /** 00144 * @brief Decode a change_operator_control message into a struct 00145 * 00146 * @param msg The message to decode 00147 * @param change_operator_control C-struct to decode the message contents into 00148 */ 00149 static inline void mavlink_msg_change_operator_control_decode(const mavlink_message_t* msg, mavlink_change_operator_control_t* change_operator_control) 00150 { 00151 change_operator_control->target_system = mavlink_msg_change_operator_control_get_target_system(msg); 00152 change_operator_control->control_request = mavlink_msg_change_operator_control_get_control_request(msg); 00153 change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg); 00154 mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey); 00155 }
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