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_object_detection_event.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 OBJECT_DETECTION_EVENT PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT 140
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_object_detection_event_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint32_t time; ///< Timestamp in milliseconds since system boot
shimniok 0:a6a169de725f 8 uint16_t object_id; ///< Object ID
shimniok 0:a6a169de725f 9 uint8_t type; ///< Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
shimniok 0:a6a169de725f 10 char name[20]; ///< Name of the object as defined by the detector
shimniok 0:a6a169de725f 11 uint8_t quality; ///< Detection quality / confidence. 0: bad, 255: maximum confidence
shimniok 0:a6a169de725f 12 float bearing; ///< Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
shimniok 0:a6a169de725f 13 float distance; ///< Ground distance in meters
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15 } mavlink_object_detection_event_t;
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17 #define MAVLINK_MSG_OBJECT_DETECTION_EVENT_FIELD_NAME_LEN 20
shimniok 0:a6a169de725f 18
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20 /**
shimniok 0:a6a169de725f 21 * @brief Pack a object_detection_event message
shimniok 0:a6a169de725f 22 * @param system_id ID of this system
shimniok 0:a6a169de725f 23 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 24 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 25 *
shimniok 0:a6a169de725f 26 * @param time Timestamp in milliseconds since system boot
shimniok 0:a6a169de725f 27 * @param object_id Object ID
shimniok 0:a6a169de725f 28 * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
shimniok 0:a6a169de725f 29 * @param name Name of the object as defined by the detector
shimniok 0:a6a169de725f 30 * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
shimniok 0:a6a169de725f 31 * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
shimniok 0:a6a169de725f 32 * @param distance Ground distance in meters
shimniok 0:a6a169de725f 33 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 34 */
shimniok 0:a6a169de725f 35 static inline uint16_t mavlink_msg_object_detection_event_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time, uint16_t object_id, uint8_t type, const char* name, uint8_t quality, float bearing, float distance)
shimniok 0:a6a169de725f 36 {
shimniok 0:a6a169de725f 37 uint16_t i = 0;
shimniok 0:a6a169de725f 38 msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT;
shimniok 0:a6a169de725f 39
shimniok 0:a6a169de725f 40 i += put_uint32_t_by_index(time, i, msg->payload); // Timestamp in milliseconds since system boot
shimniok 0:a6a169de725f 41 i += put_uint16_t_by_index(object_id, i, msg->payload); // Object ID
shimniok 0:a6a169de725f 42 i += put_uint8_t_by_index(type, i, msg->payload); // Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
shimniok 0:a6a169de725f 43 i += put_array_by_index((const int8_t*)name, sizeof(char)*20, i, msg->payload); // Name of the object as defined by the detector
shimniok 0:a6a169de725f 44 i += put_uint8_t_by_index(quality, i, msg->payload); // Detection quality / confidence. 0: bad, 255: maximum confidence
shimniok 0:a6a169de725f 45 i += put_float_by_index(bearing, i, msg->payload); // Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
shimniok 0:a6a169de725f 46 i += put_float_by_index(distance, i, msg->payload); // Ground distance in meters
shimniok 0:a6a169de725f 47
shimniok 0:a6a169de725f 48 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 49 }
shimniok 0:a6a169de725f 50
shimniok 0:a6a169de725f 51 /**
shimniok 0:a6a169de725f 52 * @brief Pack a object_detection_event message
shimniok 0:a6a169de725f 53 * @param system_id ID of this system
shimniok 0:a6a169de725f 54 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 55 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 56 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 57 * @param time Timestamp in milliseconds since system boot
shimniok 0:a6a169de725f 58 * @param object_id Object ID
shimniok 0:a6a169de725f 59 * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
shimniok 0:a6a169de725f 60 * @param name Name of the object as defined by the detector
shimniok 0:a6a169de725f 61 * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
shimniok 0:a6a169de725f 62 * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
shimniok 0:a6a169de725f 63 * @param distance Ground distance in meters
shimniok 0:a6a169de725f 64 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 65 */
shimniok 0:a6a169de725f 66 static inline uint16_t mavlink_msg_object_detection_event_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time, uint16_t object_id, uint8_t type, const char* name, uint8_t quality, float bearing, float distance)
shimniok 0:a6a169de725f 67 {
shimniok 0:a6a169de725f 68 uint16_t i = 0;
shimniok 0:a6a169de725f 69 msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT;
shimniok 0:a6a169de725f 70
shimniok 0:a6a169de725f 71 i += put_uint32_t_by_index(time, i, msg->payload); // Timestamp in milliseconds since system boot
shimniok 0:a6a169de725f 72 i += put_uint16_t_by_index(object_id, i, msg->payload); // Object ID
shimniok 0:a6a169de725f 73 i += put_uint8_t_by_index(type, i, msg->payload); // Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
shimniok 0:a6a169de725f 74 i += put_array_by_index((const int8_t*)name, sizeof(char)*20, i, msg->payload); // Name of the object as defined by the detector
shimniok 0:a6a169de725f 75 i += put_uint8_t_by_index(quality, i, msg->payload); // Detection quality / confidence. 0: bad, 255: maximum confidence
shimniok 0:a6a169de725f 76 i += put_float_by_index(bearing, i, msg->payload); // Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
shimniok 0:a6a169de725f 77 i += put_float_by_index(distance, i, msg->payload); // Ground distance in meters
shimniok 0:a6a169de725f 78
shimniok 0:a6a169de725f 79 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 80 }
shimniok 0:a6a169de725f 81
shimniok 0:a6a169de725f 82 /**
shimniok 0:a6a169de725f 83 * @brief Encode a object_detection_event struct into a message
shimniok 0:a6a169de725f 84 *
shimniok 0:a6a169de725f 85 * @param system_id ID of this system
shimniok 0:a6a169de725f 86 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 87 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 88 * @param object_detection_event C-struct to read the message contents from
shimniok 0:a6a169de725f 89 */
shimniok 0:a6a169de725f 90 static inline uint16_t mavlink_msg_object_detection_event_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_object_detection_event_t* object_detection_event)
shimniok 0:a6a169de725f 91 {
shimniok 0:a6a169de725f 92 return mavlink_msg_object_detection_event_pack(system_id, component_id, msg, object_detection_event->time, object_detection_event->object_id, object_detection_event->type, object_detection_event->name, object_detection_event->quality, object_detection_event->bearing, object_detection_event->distance);
shimniok 0:a6a169de725f 93 }
shimniok 0:a6a169de725f 94
shimniok 0:a6a169de725f 95 /**
shimniok 0:a6a169de725f 96 * @brief Send a object_detection_event message
shimniok 0:a6a169de725f 97 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 98 *
shimniok 0:a6a169de725f 99 * @param time Timestamp in milliseconds since system boot
shimniok 0:a6a169de725f 100 * @param object_id Object ID
shimniok 0:a6a169de725f 101 * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
shimniok 0:a6a169de725f 102 * @param name Name of the object as defined by the detector
shimniok 0:a6a169de725f 103 * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
shimniok 0:a6a169de725f 104 * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
shimniok 0:a6a169de725f 105 * @param distance Ground distance in meters
shimniok 0:a6a169de725f 106 */
shimniok 0:a6a169de725f 107 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 108
shimniok 0:a6a169de725f 109 static inline void mavlink_msg_object_detection_event_send(mavlink_channel_t chan, uint32_t time, uint16_t object_id, uint8_t type, const char* name, uint8_t quality, float bearing, float distance)
shimniok 0:a6a169de725f 110 {
shimniok 0:a6a169de725f 111 mavlink_message_t msg;
shimniok 0:a6a169de725f 112 mavlink_msg_object_detection_event_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time, object_id, type, name, quality, bearing, distance);
shimniok 0:a6a169de725f 113 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 114 }
shimniok 0:a6a169de725f 115
shimniok 0:a6a169de725f 116 #endif
shimniok 0:a6a169de725f 117 // MESSAGE OBJECT_DETECTION_EVENT UNPACKING
shimniok 0:a6a169de725f 118
shimniok 0:a6a169de725f 119 /**
shimniok 0:a6a169de725f 120 * @brief Get field time from object_detection_event message
shimniok 0:a6a169de725f 121 *
shimniok 0:a6a169de725f 122 * @return Timestamp in milliseconds since system boot
shimniok 0:a6a169de725f 123 */
shimniok 0:a6a169de725f 124 static inline uint32_t mavlink_msg_object_detection_event_get_time(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 125 {
shimniok 0:a6a169de725f 126 generic_32bit r;
shimniok 0:a6a169de725f 127 r.b[3] = (msg->payload)[0];
shimniok 0:a6a169de725f 128 r.b[2] = (msg->payload)[1];
shimniok 0:a6a169de725f 129 r.b[1] = (msg->payload)[2];
shimniok 0:a6a169de725f 130 r.b[0] = (msg->payload)[3];
shimniok 0:a6a169de725f 131 return (uint32_t)r.i;
shimniok 0:a6a169de725f 132 }
shimniok 0:a6a169de725f 133
shimniok 0:a6a169de725f 134 /**
shimniok 0:a6a169de725f 135 * @brief Get field object_id from object_detection_event message
shimniok 0:a6a169de725f 136 *
shimniok 0:a6a169de725f 137 * @return Object ID
shimniok 0:a6a169de725f 138 */
shimniok 0:a6a169de725f 139 static inline uint16_t mavlink_msg_object_detection_event_get_object_id(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 140 {
shimniok 0:a6a169de725f 141 generic_16bit r;
shimniok 0:a6a169de725f 142 r.b[1] = (msg->payload+sizeof(uint32_t))[0];
shimniok 0:a6a169de725f 143 r.b[0] = (msg->payload+sizeof(uint32_t))[1];
shimniok 0:a6a169de725f 144 return (uint16_t)r.s;
shimniok 0:a6a169de725f 145 }
shimniok 0:a6a169de725f 146
shimniok 0:a6a169de725f 147 /**
shimniok 0:a6a169de725f 148 * @brief Get field type from object_detection_event message
shimniok 0:a6a169de725f 149 *
shimniok 0:a6a169de725f 150 * @return Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
shimniok 0:a6a169de725f 151 */
shimniok 0:a6a169de725f 152 static inline uint8_t mavlink_msg_object_detection_event_get_type(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 153 {
shimniok 0:a6a169de725f 154 return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 155 }
shimniok 0:a6a169de725f 156
shimniok 0:a6a169de725f 157 /**
shimniok 0:a6a169de725f 158 * @brief Get field name from object_detection_event message
shimniok 0:a6a169de725f 159 *
shimniok 0:a6a169de725f 160 * @return Name of the object as defined by the detector
shimniok 0:a6a169de725f 161 */
shimniok 0:a6a169de725f 162 static inline uint16_t mavlink_msg_object_detection_event_get_name(const mavlink_message_t* msg, char* r_data)
shimniok 0:a6a169de725f 163 {
shimniok 0:a6a169de725f 164
shimniok 0:a6a169de725f 165 memcpy(r_data, msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t), sizeof(char)*20);
shimniok 0:a6a169de725f 166 return sizeof(char)*20;
shimniok 0:a6a169de725f 167 }
shimniok 0:a6a169de725f 168
shimniok 0:a6a169de725f 169 /**
shimniok 0:a6a169de725f 170 * @brief Get field quality from object_detection_event message
shimniok 0:a6a169de725f 171 *
shimniok 0:a6a169de725f 172 * @return Detection quality / confidence. 0: bad, 255: maximum confidence
shimniok 0:a6a169de725f 173 */
shimniok 0:a6a169de725f 174 static inline uint8_t mavlink_msg_object_detection_event_get_quality(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 175 {
shimniok 0:a6a169de725f 176 return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20)[0];
shimniok 0:a6a169de725f 177 }
shimniok 0:a6a169de725f 178
shimniok 0:a6a169de725f 179 /**
shimniok 0:a6a169de725f 180 * @brief Get field bearing from object_detection_event message
shimniok 0:a6a169de725f 181 *
shimniok 0:a6a169de725f 182 * @return Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
shimniok 0:a6a169de725f 183 */
shimniok 0:a6a169de725f 184 static inline float mavlink_msg_object_detection_event_get_bearing(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 185 {
shimniok 0:a6a169de725f 186 generic_32bit r;
shimniok 0:a6a169de725f 187 r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 188 r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 189 r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[2];
shimniok 0:a6a169de725f 190 r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t))[3];
shimniok 0:a6a169de725f 191 return (float)r.f;
shimniok 0:a6a169de725f 192 }
shimniok 0:a6a169de725f 193
shimniok 0:a6a169de725f 194 /**
shimniok 0:a6a169de725f 195 * @brief Get field distance from object_detection_event message
shimniok 0:a6a169de725f 196 *
shimniok 0:a6a169de725f 197 * @return Ground distance in meters
shimniok 0:a6a169de725f 198 */
shimniok 0:a6a169de725f 199 static inline float mavlink_msg_object_detection_event_get_distance(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 200 {
shimniok 0:a6a169de725f 201 generic_32bit r;
shimniok 0:a6a169de725f 202 r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 203 r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 204 r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 205 r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(char)*20+sizeof(uint8_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 206 return (float)r.f;
shimniok 0:a6a169de725f 207 }
shimniok 0:a6a169de725f 208
shimniok 0:a6a169de725f 209 /**
shimniok 0:a6a169de725f 210 * @brief Decode a object_detection_event message into a struct
shimniok 0:a6a169de725f 211 *
shimniok 0:a6a169de725f 212 * @param msg The message to decode
shimniok 0:a6a169de725f 213 * @param object_detection_event C-struct to decode the message contents into
shimniok 0:a6a169de725f 214 */
shimniok 0:a6a169de725f 215 static inline void mavlink_msg_object_detection_event_decode(const mavlink_message_t* msg, mavlink_object_detection_event_t* object_detection_event)
shimniok 0:a6a169de725f 216 {
shimniok 0:a6a169de725f 217 object_detection_event->time = mavlink_msg_object_detection_event_get_time(msg);
shimniok 0:a6a169de725f 218 object_detection_event->object_id = mavlink_msg_object_detection_event_get_object_id(msg);
shimniok 0:a6a169de725f 219 object_detection_event->type = mavlink_msg_object_detection_event_get_type(msg);
shimniok 0:a6a169de725f 220 mavlink_msg_object_detection_event_get_name(msg, object_detection_event->name);
shimniok 0:a6a169de725f 221 object_detection_event->quality = mavlink_msg_object_detection_event_get_quality(msg);
shimniok 0:a6a169de725f 222 object_detection_event->bearing = mavlink_msg_object_detection_event_get_bearing(msg);
shimniok 0:a6a169de725f 223 object_detection_event->distance = mavlink_msg_object_detection_event_get_distance(msg);
shimniok 0:a6a169de725f 224 }