mavlink_msg_command.h

00001 // MESSAGE COMMAND PACKING
00002 
00003 #define MAVLINK_MSG_ID_COMMAND 75
00004 
00005 typedef struct __mavlink_command_t 
00006 {
00007     uint8_t target_system; ///< System which should execute the command
00008     uint8_t target_component; ///< Component which should execute the command, 0 for all components
00009     uint8_t command; ///< Command ID, as defined by MAV_CMD enum.
00010     uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
00011     float param1; ///< Parameter 1, as defined by MAV_CMD enum.
00012     float param2; ///< Parameter 2, as defined by MAV_CMD enum.
00013     float param3; ///< Parameter 3, as defined by MAV_CMD enum.
00014     float param4; ///< Parameter 4, as defined by MAV_CMD enum.
00015 
00016 } mavlink_command_t;
00017 
00018 
00019 
00020 /**
00021  * @brief Pack a command message
00022  * @param system_id ID of this system
00023  * @param component_id ID of this component (e.g. 200 for IMU)
00024  * @param msg The MAVLink message to compress the data into
00025  *
00026  * @param target_system System which should execute the command
00027  * @param target_component Component which should execute the command, 0 for all components
00028  * @param command Command ID, as defined by MAV_CMD enum.
00029  * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
00030  * @param param1 Parameter 1, as defined by MAV_CMD enum.
00031  * @param param2 Parameter 2, as defined by MAV_CMD enum.
00032  * @param param3 Parameter 3, as defined by MAV_CMD enum.
00033  * @param param4 Parameter 4, as defined by MAV_CMD enum.
00034  * @return length of the message in bytes (excluding serial stream start sign)
00035  */
00036 static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
00037 {
00038     uint16_t i = 0;
00039     msg->msgid = MAVLINK_MSG_ID_COMMAND;
00040 
00041     i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command
00042     i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components
00043     i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum.
00044     i += put_uint8_t_by_index(confirmation, i, msg->payload); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
00045     i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum.
00046     i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum.
00047     i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum.
00048     i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum.
00049 
00050     return mavlink_finalize_message(msg, system_id, component_id, i);
00051 }
00052 
00053 /**
00054  * @brief Pack a command message
00055  * @param system_id ID of this system
00056  * @param component_id ID of this component (e.g. 200 for IMU)
00057  * @param chan The MAVLink channel this message was sent over
00058  * @param msg The MAVLink message to compress the data into
00059  * @param target_system System which should execute the command
00060  * @param target_component Component which should execute the command, 0 for all components
00061  * @param command Command ID, as defined by MAV_CMD enum.
00062  * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
00063  * @param param1 Parameter 1, as defined by MAV_CMD enum.
00064  * @param param2 Parameter 2, as defined by MAV_CMD enum.
00065  * @param param3 Parameter 3, as defined by MAV_CMD enum.
00066  * @param param4 Parameter 4, as defined by MAV_CMD enum.
00067  * @return length of the message in bytes (excluding serial stream start sign)
00068  */
00069 static inline uint16_t mavlink_msg_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
00070 {
00071     uint16_t i = 0;
00072     msg->msgid = MAVLINK_MSG_ID_COMMAND;
00073 
00074     i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command
00075     i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components
00076     i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum.
00077     i += put_uint8_t_by_index(confirmation, i, msg->payload); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
00078     i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum.
00079     i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum.
00080     i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum.
00081     i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum.
00082 
00083     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00084 }
00085 
00086 /**
00087  * @brief Encode a command struct into a message
00088  *
00089  * @param system_id ID of this system
00090  * @param component_id ID of this component (e.g. 200 for IMU)
00091  * @param msg The MAVLink message to compress the data into
00092  * @param command C-struct to read the message contents from
00093  */
00094 static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command)
00095 {
00096     return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4);
00097 }
00098 
00099 /**
00100  * @brief Send a command message
00101  * @param chan MAVLink channel to send the message
00102  *
00103  * @param target_system System which should execute the command
00104  * @param target_component Component which should execute the command, 0 for all components
00105  * @param command Command ID, as defined by MAV_CMD enum.
00106  * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
00107  * @param param1 Parameter 1, as defined by MAV_CMD enum.
00108  * @param param2 Parameter 2, as defined by MAV_CMD enum.
00109  * @param param3 Parameter 3, as defined by MAV_CMD enum.
00110  * @param param4 Parameter 4, as defined by MAV_CMD enum.
00111  */
00112 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00113 
00114 static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
00115 {
00116     mavlink_message_t msg;
00117     mavlink_msg_command_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, command, confirmation, param1, param2, param3, param4);
00118     mavlink_send_uart(chan, &msg);
00119 }
00120 
00121 #endif
00122 // MESSAGE COMMAND UNPACKING
00123 
00124 /**
00125  * @brief Get field target_system from command message
00126  *
00127  * @return System which should execute the command
00128  */
00129 static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg)
00130 {
00131     return (uint8_t)(msg->payload)[0];
00132 }
00133 
00134 /**
00135  * @brief Get field target_component from command message
00136  *
00137  * @return Component which should execute the command, 0 for all components
00138  */
00139 static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg)
00140 {
00141     return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
00142 }
00143 
00144 /**
00145  * @brief Get field command from command message
00146  *
00147  * @return Command ID, as defined by MAV_CMD enum.
00148  */
00149 static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg)
00150 {
00151     return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
00152 }
00153 
00154 /**
00155  * @brief Get field confirmation from command message
00156  *
00157  * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
00158  */
00159 static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg)
00160 {
00161     return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
00162 }
00163 
00164 /**
00165  * @brief Get field param1 from command message
00166  *
00167  * @return Parameter 1, as defined by MAV_CMD enum.
00168  */
00169 static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg)
00170 {
00171     generic_32bit r;
00172     r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
00173     r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
00174     r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
00175     r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
00176     return (float)r.f;
00177 }
00178 
00179 /**
00180  * @brief Get field param2 from command message
00181  *
00182  * @return Parameter 2, as defined by MAV_CMD enum.
00183  */
00184 static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg)
00185 {
00186     generic_32bit r;
00187     r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
00188     r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
00189     r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
00190     r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
00191     return (float)r.f;
00192 }
00193 
00194 /**
00195  * @brief Get field param3 from command message
00196  *
00197  * @return Parameter 3, as defined by MAV_CMD enum.
00198  */
00199 static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg)
00200 {
00201     generic_32bit r;
00202     r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
00203     r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
00204     r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
00205     r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
00206     return (float)r.f;
00207 }
00208 
00209 /**
00210  * @brief Get field param4 from command message
00211  *
00212  * @return Parameter 4, as defined by MAV_CMD enum.
00213  */
00214 static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg)
00215 {
00216     generic_32bit r;
00217     r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00218     r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00219     r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00220     r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00221     return (float)r.f;
00222 }
00223 
00224 /**
00225  * @brief Decode a command message into a struct
00226  *
00227  * @param msg The message to decode
00228  * @param command C-struct to decode the message contents into
00229  */
00230 static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command)
00231 {
00232     command->target_system = mavlink_msg_command_get_target_system(msg);
00233     command->target_component = mavlink_msg_command_get_target_component(msg);
00234     command->command = mavlink_msg_command_get_command(msg);
00235     command->confirmation = mavlink_msg_command_get_confirmation(msg);
00236     command->param1 = mavlink_msg_command_get_param1(msg);
00237     command->param2 = mavlink_msg_command_get_param2(msg);
00238     command->param3 = mavlink_msg_command_get_param3(msg);
00239     command->param4 = mavlink_msg_command_get_param4(msg);
00240 }