mavlink_msg_statustext.h

00001 // MESSAGE STATUSTEXT PACKING
00002 
00003 #define MAVLINK_MSG_ID_STATUSTEXT 254
00004 
00005 typedef struct __mavlink_statustext_t 
00006 {
00007     uint8_t severity; ///< Severity of status, 0 = info message, 255 = critical fault
00008     int8_t text[50]; ///< Status text message, without null termination character
00009 
00010 } mavlink_statustext_t;
00011 
00012 #define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50
00013 
00014 
00015 /**
00016  * @brief Pack a statustext message
00017  * @param system_id ID of this system
00018  * @param component_id ID of this component (e.g. 200 for IMU)
00019  * @param msg The MAVLink message to compress the data into
00020  *
00021  * @param severity Severity of status, 0 = info message, 255 = critical fault
00022  * @param text Status text message, without null termination character
00023  * @return length of the message in bytes (excluding serial stream start sign)
00024  */
00025 static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t severity, const int8_t* text)
00026 {
00027     uint16_t i = 0;
00028     msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
00029 
00030     i += put_uint8_t_by_index(severity, i, msg->payload); // Severity of status, 0 = info message, 255 = critical fault
00031     i += put_array_by_index((const int8_t*)text, sizeof(int8_t)*50, i, msg->payload); // Status text message, without null termination character
00032 
00033     return mavlink_finalize_message(msg, system_id, component_id, i);
00034 }
00035 
00036 /**
00037  * @brief Pack a statustext message
00038  * @param system_id ID of this system
00039  * @param component_id ID of this component (e.g. 200 for IMU)
00040  * @param chan The MAVLink channel this message was sent over
00041  * @param msg The MAVLink message to compress the data into
00042  * @param severity Severity of status, 0 = info message, 255 = critical fault
00043  * @param text Status text message, without null termination character
00044  * @return length of the message in bytes (excluding serial stream start sign)
00045  */
00046 static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t severity, const int8_t* text)
00047 {
00048     uint16_t i = 0;
00049     msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
00050 
00051     i += put_uint8_t_by_index(severity, i, msg->payload); // Severity of status, 0 = info message, 255 = critical fault
00052     i += put_array_by_index((const int8_t*)text, sizeof(int8_t)*50, i, msg->payload); // Status text message, without null termination character
00053 
00054     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00055 }
00056 
00057 /**
00058  * @brief Encode a statustext struct into a message
00059  *
00060  * @param system_id ID of this system
00061  * @param component_id ID of this component (e.g. 200 for IMU)
00062  * @param msg The MAVLink message to compress the data into
00063  * @param statustext C-struct to read the message contents from
00064  */
00065 static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_statustext_t* statustext)
00066 {
00067     return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text);
00068 }
00069 
00070 /**
00071  * @brief Send a statustext message
00072  * @param chan MAVLink channel to send the message
00073  *
00074  * @param severity Severity of status, 0 = info message, 255 = critical fault
00075  * @param text Status text message, without null termination character
00076  */
00077 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00078 
00079 static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const int8_t* text)
00080 {
00081     mavlink_message_t msg;
00082     mavlink_msg_statustext_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, severity, text);
00083     mavlink_send_uart(chan, &msg);
00084 }
00085 
00086 #endif
00087 // MESSAGE STATUSTEXT UNPACKING
00088 
00089 /**
00090  * @brief Get field severity from statustext message
00091  *
00092  * @return Severity of status, 0 = info message, 255 = critical fault
00093  */
00094 static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg)
00095 {
00096     return (uint8_t)(msg->payload)[0];
00097 }
00098 
00099 /**
00100  * @brief Get field text from statustext message
00101  *
00102  * @return Status text message, without null termination character
00103  */
00104 static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, int8_t* r_data)
00105 {
00106 
00107     memcpy(r_data, msg->payload+sizeof(uint8_t), sizeof(int8_t)*50);
00108     return sizeof(int8_t)*50;
00109 }
00110 
00111 /**
00112  * @brief Decode a statustext message into a struct
00113  *
00114  * @param msg The message to decode
00115  * @param statustext C-struct to decode the message contents into
00116  */
00117 static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext)
00118 {
00119     statustext->severity = mavlink_msg_statustext_get_severity(msg);
00120     mavlink_msg_statustext_get_text(msg, statustext->text);
00121 }