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_safety_allowed_area.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 SAFETY_ALLOWED_AREA PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA 54
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_safety_allowed_area_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
shimniok 0:a6a169de725f 8 float p1x; ///< x position 1 / Latitude 1
shimniok 0:a6a169de725f 9 float p1y; ///< y position 1 / Longitude 1
shimniok 0:a6a169de725f 10 float p1z; ///< z position 1 / Altitude 1
shimniok 0:a6a169de725f 11 float p2x; ///< x position 2 / Latitude 2
shimniok 0:a6a169de725f 12 float p2y; ///< y position 2 / Longitude 2
shimniok 0:a6a169de725f 13 float p2z; ///< z position 2 / Altitude 2
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15 } mavlink_safety_allowed_area_t;
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18
shimniok 0:a6a169de725f 19 /**
shimniok 0:a6a169de725f 20 * @brief Pack a safety_allowed_area message
shimniok 0:a6a169de725f 21 * @param system_id ID of this system
shimniok 0:a6a169de725f 22 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 23 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 24 *
shimniok 0:a6a169de725f 25 * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
shimniok 0:a6a169de725f 26 * @param p1x x position 1 / Latitude 1
shimniok 0:a6a169de725f 27 * @param p1y y position 1 / Longitude 1
shimniok 0:a6a169de725f 28 * @param p1z z position 1 / Altitude 1
shimniok 0:a6a169de725f 29 * @param p2x x position 2 / Latitude 2
shimniok 0:a6a169de725f 30 * @param p2y y position 2 / Longitude 2
shimniok 0:a6a169de725f 31 * @param p2z z position 2 / Altitude 2
shimniok 0:a6a169de725f 32 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 33 */
shimniok 0:a6a169de725f 34 static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
shimniok 0:a6a169de725f 35 {
shimniok 0:a6a169de725f 36 uint16_t i = 0;
shimniok 0:a6a169de725f 37 msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA;
shimniok 0:a6a169de725f 38
shimniok 0:a6a169de725f 39 i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
shimniok 0:a6a169de725f 40 i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1
shimniok 0:a6a169de725f 41 i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1
shimniok 0:a6a169de725f 42 i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1
shimniok 0:a6a169de725f 43 i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2
shimniok 0:a6a169de725f 44 i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2
shimniok 0:a6a169de725f 45 i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2
shimniok 0:a6a169de725f 46
shimniok 0:a6a169de725f 47 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 48 }
shimniok 0:a6a169de725f 49
shimniok 0:a6a169de725f 50 /**
shimniok 0:a6a169de725f 51 * @brief Pack a safety_allowed_area message
shimniok 0:a6a169de725f 52 * @param system_id ID of this system
shimniok 0:a6a169de725f 53 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 54 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 55 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 56 * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
shimniok 0:a6a169de725f 57 * @param p1x x position 1 / Latitude 1
shimniok 0:a6a169de725f 58 * @param p1y y position 1 / Longitude 1
shimniok 0:a6a169de725f 59 * @param p1z z position 1 / Altitude 1
shimniok 0:a6a169de725f 60 * @param p2x x position 2 / Latitude 2
shimniok 0:a6a169de725f 61 * @param p2y y position 2 / Longitude 2
shimniok 0:a6a169de725f 62 * @param p2z z position 2 / Altitude 2
shimniok 0:a6a169de725f 63 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 64 */
shimniok 0:a6a169de725f 65 static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
shimniok 0:a6a169de725f 66 {
shimniok 0:a6a169de725f 67 uint16_t i = 0;
shimniok 0:a6a169de725f 68 msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA;
shimniok 0:a6a169de725f 69
shimniok 0:a6a169de725f 70 i += put_uint8_t_by_index(frame, i, msg->payload); // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
shimniok 0:a6a169de725f 71 i += put_float_by_index(p1x, i, msg->payload); // x position 1 / Latitude 1
shimniok 0:a6a169de725f 72 i += put_float_by_index(p1y, i, msg->payload); // y position 1 / Longitude 1
shimniok 0:a6a169de725f 73 i += put_float_by_index(p1z, i, msg->payload); // z position 1 / Altitude 1
shimniok 0:a6a169de725f 74 i += put_float_by_index(p2x, i, msg->payload); // x position 2 / Latitude 2
shimniok 0:a6a169de725f 75 i += put_float_by_index(p2y, i, msg->payload); // y position 2 / Longitude 2
shimniok 0:a6a169de725f 76 i += put_float_by_index(p2z, i, msg->payload); // z position 2 / Altitude 2
shimniok 0:a6a169de725f 77
shimniok 0:a6a169de725f 78 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 79 }
shimniok 0:a6a169de725f 80
shimniok 0:a6a169de725f 81 /**
shimniok 0:a6a169de725f 82 * @brief Encode a safety_allowed_area struct into a message
shimniok 0:a6a169de725f 83 *
shimniok 0:a6a169de725f 84 * @param system_id ID of this system
shimniok 0:a6a169de725f 85 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 86 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 87 * @param safety_allowed_area C-struct to read the message contents from
shimniok 0:a6a169de725f 88 */
shimniok 0:a6a169de725f 89 static inline uint16_t mavlink_msg_safety_allowed_area_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_safety_allowed_area_t* safety_allowed_area)
shimniok 0:a6a169de725f 90 {
shimniok 0:a6a169de725f 91 return mavlink_msg_safety_allowed_area_pack(system_id, component_id, msg, safety_allowed_area->frame, safety_allowed_area->p1x, safety_allowed_area->p1y, safety_allowed_area->p1z, safety_allowed_area->p2x, safety_allowed_area->p2y, safety_allowed_area->p2z);
shimniok 0:a6a169de725f 92 }
shimniok 0:a6a169de725f 93
shimniok 0:a6a169de725f 94 /**
shimniok 0:a6a169de725f 95 * @brief Send a safety_allowed_area message
shimniok 0:a6a169de725f 96 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 97 *
shimniok 0:a6a169de725f 98 * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
shimniok 0:a6a169de725f 99 * @param p1x x position 1 / Latitude 1
shimniok 0:a6a169de725f 100 * @param p1y y position 1 / Longitude 1
shimniok 0:a6a169de725f 101 * @param p1z z position 1 / Altitude 1
shimniok 0:a6a169de725f 102 * @param p2x x position 2 / Latitude 2
shimniok 0:a6a169de725f 103 * @param p2y y position 2 / Longitude 2
shimniok 0:a6a169de725f 104 * @param p2z z position 2 / Altitude 2
shimniok 0:a6a169de725f 105 */
shimniok 0:a6a169de725f 106 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 107
shimniok 0:a6a169de725f 108 static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
shimniok 0:a6a169de725f 109 {
shimniok 0:a6a169de725f 110 mavlink_message_t msg;
shimniok 0:a6a169de725f 111 mavlink_msg_safety_allowed_area_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, frame, p1x, p1y, p1z, p2x, p2y, p2z);
shimniok 0:a6a169de725f 112 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 113 }
shimniok 0:a6a169de725f 114
shimniok 0:a6a169de725f 115 #endif
shimniok 0:a6a169de725f 116 // MESSAGE SAFETY_ALLOWED_AREA UNPACKING
shimniok 0:a6a169de725f 117
shimniok 0:a6a169de725f 118 /**
shimniok 0:a6a169de725f 119 * @brief Get field frame from safety_allowed_area message
shimniok 0:a6a169de725f 120 *
shimniok 0:a6a169de725f 121 * @return Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
shimniok 0:a6a169de725f 122 */
shimniok 0:a6a169de725f 123 static inline uint8_t mavlink_msg_safety_allowed_area_get_frame(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 124 {
shimniok 0:a6a169de725f 125 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 126 }
shimniok 0:a6a169de725f 127
shimniok 0:a6a169de725f 128 /**
shimniok 0:a6a169de725f 129 * @brief Get field p1x from safety_allowed_area message
shimniok 0:a6a169de725f 130 *
shimniok 0:a6a169de725f 131 * @return x position 1 / Latitude 1
shimniok 0:a6a169de725f 132 */
shimniok 0:a6a169de725f 133 static inline float mavlink_msg_safety_allowed_area_get_p1x(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 134 {
shimniok 0:a6a169de725f 135 generic_32bit r;
shimniok 0:a6a169de725f 136 r.b[3] = (msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 137 r.b[2] = (msg->payload+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 138 r.b[1] = (msg->payload+sizeof(uint8_t))[2];
shimniok 0:a6a169de725f 139 r.b[0] = (msg->payload+sizeof(uint8_t))[3];
shimniok 0:a6a169de725f 140 return (float)r.f;
shimniok 0:a6a169de725f 141 }
shimniok 0:a6a169de725f 142
shimniok 0:a6a169de725f 143 /**
shimniok 0:a6a169de725f 144 * @brief Get field p1y from safety_allowed_area message
shimniok 0:a6a169de725f 145 *
shimniok 0:a6a169de725f 146 * @return y position 1 / Longitude 1
shimniok 0:a6a169de725f 147 */
shimniok 0:a6a169de725f 148 static inline float mavlink_msg_safety_allowed_area_get_p1y(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 149 {
shimniok 0:a6a169de725f 150 generic_32bit r;
shimniok 0:a6a169de725f 151 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 152 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 153 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 154 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 155 return (float)r.f;
shimniok 0:a6a169de725f 156 }
shimniok 0:a6a169de725f 157
shimniok 0:a6a169de725f 158 /**
shimniok 0:a6a169de725f 159 * @brief Get field p1z from safety_allowed_area message
shimniok 0:a6a169de725f 160 *
shimniok 0:a6a169de725f 161 * @return z position 1 / Altitude 1
shimniok 0:a6a169de725f 162 */
shimniok 0:a6a169de725f 163 static inline float mavlink_msg_safety_allowed_area_get_p1z(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 164 {
shimniok 0:a6a169de725f 165 generic_32bit r;
shimniok 0:a6a169de725f 166 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 167 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 168 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 169 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 170 return (float)r.f;
shimniok 0:a6a169de725f 171 }
shimniok 0:a6a169de725f 172
shimniok 0:a6a169de725f 173 /**
shimniok 0:a6a169de725f 174 * @brief Get field p2x from safety_allowed_area message
shimniok 0:a6a169de725f 175 *
shimniok 0:a6a169de725f 176 * @return x position 2 / Latitude 2
shimniok 0:a6a169de725f 177 */
shimniok 0:a6a169de725f 178 static inline float mavlink_msg_safety_allowed_area_get_p2x(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 179 {
shimniok 0:a6a169de725f 180 generic_32bit r;
shimniok 0:a6a169de725f 181 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 182 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 183 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 184 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 185 return (float)r.f;
shimniok 0:a6a169de725f 186 }
shimniok 0:a6a169de725f 187
shimniok 0:a6a169de725f 188 /**
shimniok 0:a6a169de725f 189 * @brief Get field p2y from safety_allowed_area message
shimniok 0:a6a169de725f 190 *
shimniok 0:a6a169de725f 191 * @return y position 2 / Longitude 2
shimniok 0:a6a169de725f 192 */
shimniok 0:a6a169de725f 193 static inline float mavlink_msg_safety_allowed_area_get_p2y(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 194 {
shimniok 0:a6a169de725f 195 generic_32bit r;
shimniok 0:a6a169de725f 196 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 197 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 198 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 199 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 200 return (float)r.f;
shimniok 0:a6a169de725f 201 }
shimniok 0:a6a169de725f 202
shimniok 0:a6a169de725f 203 /**
shimniok 0:a6a169de725f 204 * @brief Get field p2z from safety_allowed_area message
shimniok 0:a6a169de725f 205 *
shimniok 0:a6a169de725f 206 * @return z position 2 / Altitude 2
shimniok 0:a6a169de725f 207 */
shimniok 0:a6a169de725f 208 static inline float mavlink_msg_safety_allowed_area_get_p2z(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 209 {
shimniok 0:a6a169de725f 210 generic_32bit r;
shimniok 0:a6a169de725f 211 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 212 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 213 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 214 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 215 return (float)r.f;
shimniok 0:a6a169de725f 216 }
shimniok 0:a6a169de725f 217
shimniok 0:a6a169de725f 218 /**
shimniok 0:a6a169de725f 219 * @brief Decode a safety_allowed_area message into a struct
shimniok 0:a6a169de725f 220 *
shimniok 0:a6a169de725f 221 * @param msg The message to decode
shimniok 0:a6a169de725f 222 * @param safety_allowed_area C-struct to decode the message contents into
shimniok 0:a6a169de725f 223 */
shimniok 0:a6a169de725f 224 static inline void mavlink_msg_safety_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_allowed_area_t* safety_allowed_area)
shimniok 0:a6a169de725f 225 {
shimniok 0:a6a169de725f 226 safety_allowed_area->frame = mavlink_msg_safety_allowed_area_get_frame(msg);
shimniok 0:a6a169de725f 227 safety_allowed_area->p1x = mavlink_msg_safety_allowed_area_get_p1x(msg);
shimniok 0:a6a169de725f 228 safety_allowed_area->p1y = mavlink_msg_safety_allowed_area_get_p1y(msg);
shimniok 0:a6a169de725f 229 safety_allowed_area->p1z = mavlink_msg_safety_allowed_area_get_p1z(msg);
shimniok 0:a6a169de725f 230 safety_allowed_area->p2x = mavlink_msg_safety_allowed_area_get_p2x(msg);
shimniok 0:a6a169de725f 231 safety_allowed_area->p2y = mavlink_msg_safety_allowed_area_get_p2y(msg);
shimniok 0:a6a169de725f 232 safety_allowed_area->p2z = mavlink_msg_safety_allowed_area_get_p2z(msg);
shimniok 0:a6a169de725f 233 }