Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

MAVlink/include/common/mavlink_msg_change_operator_control.h@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 // MESSAGE CHANGE_OPERATOR_CONTROL PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL 5
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_change_operator_control_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t target_system; ///< System the GCS requests control for
shimniok 0:a6a169de725f 8 uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:a6a169de725f 9 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.
shimniok 0:a6a169de725f 10 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 "!?,.-"
shimniok 0:a6a169de725f 11
shimniok 0:a6a169de725f 12 } mavlink_change_operator_control_t;
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 #define MAVLINK_MSG_CHANGE_OPERATOR_CONTROL_FIELD_PASSKEY_LEN 25
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17 /**
shimniok 0:a6a169de725f 18 * @brief Pack a change_operator_control message
shimniok 0:a6a169de725f 19 * @param system_id ID of this system
shimniok 0:a6a169de725f 20 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 21 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 22 *
shimniok 0:a6a169de725f 23 * @param target_system System the GCS requests control for
shimniok 0:a6a169de725f 24 * @param control_request 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:a6a169de725f 25 * @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.
shimniok 0:a6a169de725f 26 * @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 "!?,.-"
shimniok 0:a6a169de725f 27 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 28 */
shimniok 0:a6a169de725f 29 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)
shimniok 0:a6a169de725f 30 {
shimniok 0:a6a169de725f 31 uint16_t i = 0;
shimniok 0:a6a169de725f 32 msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
shimniok 0:a6a169de725f 33
shimniok 0:a6a169de725f 34 i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for
shimniok 0:a6a169de725f 35 i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:a6a169de725f 36 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.
shimniok 0:a6a169de725f 37 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 "!?,.-"
shimniok 0:a6a169de725f 38
shimniok 0:a6a169de725f 39 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 40 }
shimniok 0:a6a169de725f 41
shimniok 0:a6a169de725f 42 /**
shimniok 0:a6a169de725f 43 * @brief Pack a change_operator_control message
shimniok 0:a6a169de725f 44 * @param system_id ID of this system
shimniok 0:a6a169de725f 45 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 46 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 47 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 48 * @param target_system System the GCS requests control for
shimniok 0:a6a169de725f 49 * @param control_request 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:a6a169de725f 50 * @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.
shimniok 0:a6a169de725f 51 * @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 "!?,.-"
shimniok 0:a6a169de725f 52 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 53 */
shimniok 0:a6a169de725f 54 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)
shimniok 0:a6a169de725f 55 {
shimniok 0:a6a169de725f 56 uint16_t i = 0;
shimniok 0:a6a169de725f 57 msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
shimniok 0:a6a169de725f 58
shimniok 0:a6a169de725f 59 i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for
shimniok 0:a6a169de725f 60 i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:a6a169de725f 61 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.
shimniok 0:a6a169de725f 62 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 "!?,.-"
shimniok 0:a6a169de725f 63
shimniok 0:a6a169de725f 64 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 65 }
shimniok 0:a6a169de725f 66
shimniok 0:a6a169de725f 67 /**
shimniok 0:a6a169de725f 68 * @brief Encode a change_operator_control struct into a message
shimniok 0:a6a169de725f 69 *
shimniok 0:a6a169de725f 70 * @param system_id ID of this system
shimniok 0:a6a169de725f 71 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 72 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 73 * @param change_operator_control C-struct to read the message contents from
shimniok 0:a6a169de725f 74 */
shimniok 0:a6a169de725f 75 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)
shimniok 0:a6a169de725f 76 {
shimniok 0:a6a169de725f 77 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);
shimniok 0:a6a169de725f 78 }
shimniok 0:a6a169de725f 79
shimniok 0:a6a169de725f 80 /**
shimniok 0:a6a169de725f 81 * @brief Send a change_operator_control message
shimniok 0:a6a169de725f 82 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 83 *
shimniok 0:a6a169de725f 84 * @param target_system System the GCS requests control for
shimniok 0:a6a169de725f 85 * @param control_request 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:a6a169de725f 86 * @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.
shimniok 0:a6a169de725f 87 * @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 "!?,.-"
shimniok 0:a6a169de725f 88 */
shimniok 0:a6a169de725f 89 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 90
shimniok 0:a6a169de725f 91 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)
shimniok 0:a6a169de725f 92 {
shimniok 0:a6a169de725f 93 mavlink_message_t msg;
shimniok 0:a6a169de725f 94 mavlink_msg_change_operator_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, control_request, version, passkey);
shimniok 0:a6a169de725f 95 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 96 }
shimniok 0:a6a169de725f 97
shimniok 0:a6a169de725f 98 #endif
shimniok 0:a6a169de725f 99 // MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING
shimniok 0:a6a169de725f 100
shimniok 0:a6a169de725f 101 /**
shimniok 0:a6a169de725f 102 * @brief Get field target_system from change_operator_control message
shimniok 0:a6a169de725f 103 *
shimniok 0:a6a169de725f 104 * @return System the GCS requests control for
shimniok 0:a6a169de725f 105 */
shimniok 0:a6a169de725f 106 static inline uint8_t mavlink_msg_change_operator_control_get_target_system(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 107 {
shimniok 0:a6a169de725f 108 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 109 }
shimniok 0:a6a169de725f 110
shimniok 0:a6a169de725f 111 /**
shimniok 0:a6a169de725f 112 * @brief Get field control_request from change_operator_control message
shimniok 0:a6a169de725f 113 *
shimniok 0:a6a169de725f 114 * @return 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:a6a169de725f 115 */
shimniok 0:a6a169de725f 116 static inline uint8_t mavlink_msg_change_operator_control_get_control_request(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 117 {
shimniok 0:a6a169de725f 118 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 119 }
shimniok 0:a6a169de725f 120
shimniok 0:a6a169de725f 121 /**
shimniok 0:a6a169de725f 122 * @brief Get field version from change_operator_control message
shimniok 0:a6a169de725f 123 *
shimniok 0:a6a169de725f 124 * @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.
shimniok 0:a6a169de725f 125 */
shimniok 0:a6a169de725f 126 static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 127 {
shimniok 0:a6a169de725f 128 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 129 }
shimniok 0:a6a169de725f 130
shimniok 0:a6a169de725f 131 /**
shimniok 0:a6a169de725f 132 * @brief Get field passkey from change_operator_control message
shimniok 0:a6a169de725f 133 *
shimniok 0:a6a169de725f 134 * @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 "!?,.-"
shimniok 0:a6a169de725f 135 */
shimniok 0:a6a169de725f 136 static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char* r_data)
shimniok 0:a6a169de725f 137 {
shimniok 0:a6a169de725f 138
shimniok 0:a6a169de725f 139 memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t), sizeof(char)*25);
shimniok 0:a6a169de725f 140 return sizeof(char)*25;
shimniok 0:a6a169de725f 141 }
shimniok 0:a6a169de725f 142
shimniok 0:a6a169de725f 143 /**
shimniok 0:a6a169de725f 144 * @brief Decode a change_operator_control message into a struct
shimniok 0:a6a169de725f 145 *
shimniok 0:a6a169de725f 146 * @param msg The message to decode
shimniok 0:a6a169de725f 147 * @param change_operator_control C-struct to decode the message contents into
shimniok 0:a6a169de725f 148 */
shimniok 0:a6a169de725f 149 static inline void mavlink_msg_change_operator_control_decode(const mavlink_message_t* msg, mavlink_change_operator_control_t* change_operator_control)
shimniok 0:a6a169de725f 150 {
shimniok 0:a6a169de725f 151 change_operator_control->target_system = mavlink_msg_change_operator_control_get_target_system(msg);
shimniok 0:a6a169de725f 152 change_operator_control->control_request = mavlink_msg_change_operator_control_get_control_request(msg);
shimniok 0:a6a169de725f 153 change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg);
shimniok 0:a6a169de725f 154 mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey);
shimniok 0:a6a169de725f 155 }