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/pixhawk/mavlink_msg_point_of_interest.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 POINT_OF_INTEREST PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_POINT_OF_INTEREST 161
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_point_of_interest_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t type; ///< 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
shimniok 0:a6a169de725f 8 uint8_t color; ///< 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
shimniok 0:a6a169de725f 9 uint8_t coordinate_system; ///< 0: global, 1:local
shimniok 0:a6a169de725f 10 uint16_t timeout; ///< 0: no timeout, >1: timeout in seconds
shimniok 0:a6a169de725f 11 float x; ///< X Position
shimniok 0:a6a169de725f 12 float y; ///< Y Position
shimniok 0:a6a169de725f 13 float z; ///< Z Position
shimniok 0:a6a169de725f 14 int8_t name[25]; ///< POI name
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 } mavlink_point_of_interest_t;
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18 #define MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN 25
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20
shimniok 0:a6a169de725f 21 /**
shimniok 0:a6a169de725f 22 * @brief Pack a point_of_interest message
shimniok 0:a6a169de725f 23 * @param system_id ID of this system
shimniok 0:a6a169de725f 24 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 25 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 26 *
shimniok 0:a6a169de725f 27 * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
shimniok 0:a6a169de725f 28 * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
shimniok 0:a6a169de725f 29 * @param coordinate_system 0: global, 1:local
shimniok 0:a6a169de725f 30 * @param timeout 0: no timeout, >1: timeout in seconds
shimniok 0:a6a169de725f 31 * @param x X Position
shimniok 0:a6a169de725f 32 * @param y Y Position
shimniok 0:a6a169de725f 33 * @param z Z Position
shimniok 0:a6a169de725f 34 * @param name POI name
shimniok 0:a6a169de725f 35 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 36 */
shimniok 0:a6a169de725f 37 static inline uint16_t mavlink_msg_point_of_interest_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const int8_t* name)
shimniok 0:a6a169de725f 38 {
shimniok 0:a6a169de725f 39 uint16_t i = 0;
shimniok 0:a6a169de725f 40 msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST;
shimniok 0:a6a169de725f 41
shimniok 0:a6a169de725f 42 i += put_uint8_t_by_index(type, i, msg->payload); // 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
shimniok 0:a6a169de725f 43 i += put_uint8_t_by_index(color, i, msg->payload); // 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
shimniok 0:a6a169de725f 44 i += put_uint8_t_by_index(coordinate_system, i, msg->payload); // 0: global, 1:local
shimniok 0:a6a169de725f 45 i += put_uint16_t_by_index(timeout, i, msg->payload); // 0: no timeout, >1: timeout in seconds
shimniok 0:a6a169de725f 46 i += put_float_by_index(x, i, msg->payload); // X Position
shimniok 0:a6a169de725f 47 i += put_float_by_index(y, i, msg->payload); // Y Position
shimniok 0:a6a169de725f 48 i += put_float_by_index(z, i, msg->payload); // Z Position
shimniok 0:a6a169de725f 49 i += put_array_by_index(name, 25, i, msg->payload); // POI name
shimniok 0:a6a169de725f 50
shimniok 0:a6a169de725f 51 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 52 }
shimniok 0:a6a169de725f 53
shimniok 0:a6a169de725f 54 /**
shimniok 0:a6a169de725f 55 * @brief Pack a point_of_interest message
shimniok 0:a6a169de725f 56 * @param system_id ID of this system
shimniok 0:a6a169de725f 57 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 58 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 59 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 60 * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
shimniok 0:a6a169de725f 61 * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
shimniok 0:a6a169de725f 62 * @param coordinate_system 0: global, 1:local
shimniok 0:a6a169de725f 63 * @param timeout 0: no timeout, >1: timeout in seconds
shimniok 0:a6a169de725f 64 * @param x X Position
shimniok 0:a6a169de725f 65 * @param y Y Position
shimniok 0:a6a169de725f 66 * @param z Z Position
shimniok 0:a6a169de725f 67 * @param name POI name
shimniok 0:a6a169de725f 68 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 69 */
shimniok 0:a6a169de725f 70 static inline uint16_t mavlink_msg_point_of_interest_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const int8_t* name)
shimniok 0:a6a169de725f 71 {
shimniok 0:a6a169de725f 72 uint16_t i = 0;
shimniok 0:a6a169de725f 73 msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST;
shimniok 0:a6a169de725f 74
shimniok 0:a6a169de725f 75 i += put_uint8_t_by_index(type, i, msg->payload); // 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
shimniok 0:a6a169de725f 76 i += put_uint8_t_by_index(color, i, msg->payload); // 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
shimniok 0:a6a169de725f 77 i += put_uint8_t_by_index(coordinate_system, i, msg->payload); // 0: global, 1:local
shimniok 0:a6a169de725f 78 i += put_uint16_t_by_index(timeout, i, msg->payload); // 0: no timeout, >1: timeout in seconds
shimniok 0:a6a169de725f 79 i += put_float_by_index(x, i, msg->payload); // X Position
shimniok 0:a6a169de725f 80 i += put_float_by_index(y, i, msg->payload); // Y Position
shimniok 0:a6a169de725f 81 i += put_float_by_index(z, i, msg->payload); // Z Position
shimniok 0:a6a169de725f 82 i += put_array_by_index(name, 25, i, msg->payload); // POI name
shimniok 0:a6a169de725f 83
shimniok 0:a6a169de725f 84 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 85 }
shimniok 0:a6a169de725f 86
shimniok 0:a6a169de725f 87 /**
shimniok 0:a6a169de725f 88 * @brief Encode a point_of_interest struct into a message
shimniok 0:a6a169de725f 89 *
shimniok 0:a6a169de725f 90 * @param system_id ID of this system
shimniok 0:a6a169de725f 91 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 92 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 93 * @param point_of_interest C-struct to read the message contents from
shimniok 0:a6a169de725f 94 */
shimniok 0:a6a169de725f 95 static inline uint16_t mavlink_msg_point_of_interest_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_point_of_interest_t* point_of_interest)
shimniok 0:a6a169de725f 96 {
shimniok 0:a6a169de725f 97 return mavlink_msg_point_of_interest_pack(system_id, component_id, msg, point_of_interest->type, point_of_interest->color, point_of_interest->coordinate_system, point_of_interest->timeout, point_of_interest->x, point_of_interest->y, point_of_interest->z, point_of_interest->name);
shimniok 0:a6a169de725f 98 }
shimniok 0:a6a169de725f 99
shimniok 0:a6a169de725f 100 /**
shimniok 0:a6a169de725f 101 * @brief Send a point_of_interest message
shimniok 0:a6a169de725f 102 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 103 *
shimniok 0:a6a169de725f 104 * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
shimniok 0:a6a169de725f 105 * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
shimniok 0:a6a169de725f 106 * @param coordinate_system 0: global, 1:local
shimniok 0:a6a169de725f 107 * @param timeout 0: no timeout, >1: timeout in seconds
shimniok 0:a6a169de725f 108 * @param x X Position
shimniok 0:a6a169de725f 109 * @param y Y Position
shimniok 0:a6a169de725f 110 * @param z Z Position
shimniok 0:a6a169de725f 111 * @param name POI name
shimniok 0:a6a169de725f 112 */
shimniok 0:a6a169de725f 113 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 114
shimniok 0:a6a169de725f 115 static inline void mavlink_msg_point_of_interest_send(mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const int8_t* name)
shimniok 0:a6a169de725f 116 {
shimniok 0:a6a169de725f 117 mavlink_message_t msg;
shimniok 0:a6a169de725f 118 mavlink_msg_point_of_interest_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, color, coordinate_system, timeout, x, y, z, name);
shimniok 0:a6a169de725f 119 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 120 }
shimniok 0:a6a169de725f 121
shimniok 0:a6a169de725f 122 #endif
shimniok 0:a6a169de725f 123 // MESSAGE POINT_OF_INTEREST UNPACKING
shimniok 0:a6a169de725f 124
shimniok 0:a6a169de725f 125 /**
shimniok 0:a6a169de725f 126 * @brief Get field type from point_of_interest message
shimniok 0:a6a169de725f 127 *
shimniok 0:a6a169de725f 128 * @return 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
shimniok 0:a6a169de725f 129 */
shimniok 0:a6a169de725f 130 static inline uint8_t mavlink_msg_point_of_interest_get_type(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 131 {
shimniok 0:a6a169de725f 132 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 133 }
shimniok 0:a6a169de725f 134
shimniok 0:a6a169de725f 135 /**
shimniok 0:a6a169de725f 136 * @brief Get field color from point_of_interest message
shimniok 0:a6a169de725f 137 *
shimniok 0:a6a169de725f 138 * @return 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
shimniok 0:a6a169de725f 139 */
shimniok 0:a6a169de725f 140 static inline uint8_t mavlink_msg_point_of_interest_get_color(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 141 {
shimniok 0:a6a169de725f 142 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 143 }
shimniok 0:a6a169de725f 144
shimniok 0:a6a169de725f 145 /**
shimniok 0:a6a169de725f 146 * @brief Get field coordinate_system from point_of_interest message
shimniok 0:a6a169de725f 147 *
shimniok 0:a6a169de725f 148 * @return 0: global, 1:local
shimniok 0:a6a169de725f 149 */
shimniok 0:a6a169de725f 150 static inline uint8_t mavlink_msg_point_of_interest_get_coordinate_system(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 151 {
shimniok 0:a6a169de725f 152 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 153 }
shimniok 0:a6a169de725f 154
shimniok 0:a6a169de725f 155 /**
shimniok 0:a6a169de725f 156 * @brief Get field timeout from point_of_interest message
shimniok 0:a6a169de725f 157 *
shimniok 0:a6a169de725f 158 * @return 0: no timeout, >1: timeout in seconds
shimniok 0:a6a169de725f 159 */
shimniok 0:a6a169de725f 160 static inline uint16_t mavlink_msg_point_of_interest_get_timeout(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 161 {
shimniok 0:a6a169de725f 162 generic_16bit r;
shimniok 0:a6a169de725f 163 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 164 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 165 return (uint16_t)r.s;
shimniok 0:a6a169de725f 166 }
shimniok 0:a6a169de725f 167
shimniok 0:a6a169de725f 168 /**
shimniok 0:a6a169de725f 169 * @brief Get field x from point_of_interest message
shimniok 0:a6a169de725f 170 *
shimniok 0:a6a169de725f 171 * @return X Position
shimniok 0:a6a169de725f 172 */
shimniok 0:a6a169de725f 173 static inline float mavlink_msg_point_of_interest_get_x(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 174 {
shimniok 0:a6a169de725f 175 generic_32bit r;
shimniok 0:a6a169de725f 176 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 177 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 178 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[2];
shimniok 0:a6a169de725f 179 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[3];
shimniok 0:a6a169de725f 180 return (float)r.f;
shimniok 0:a6a169de725f 181 }
shimniok 0:a6a169de725f 182
shimniok 0:a6a169de725f 183 /**
shimniok 0:a6a169de725f 184 * @brief Get field y from point_of_interest message
shimniok 0:a6a169de725f 185 *
shimniok 0:a6a169de725f 186 * @return Y Position
shimniok 0:a6a169de725f 187 */
shimniok 0:a6a169de725f 188 static inline float mavlink_msg_point_of_interest_get_y(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 189 {
shimniok 0:a6a169de725f 190 generic_32bit r;
shimniok 0:a6a169de725f 191 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 192 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 193 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 194 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 195 return (float)r.f;
shimniok 0:a6a169de725f 196 }
shimniok 0:a6a169de725f 197
shimniok 0:a6a169de725f 198 /**
shimniok 0:a6a169de725f 199 * @brief Get field z from point_of_interest message
shimniok 0:a6a169de725f 200 *
shimniok 0:a6a169de725f 201 * @return Z Position
shimniok 0:a6a169de725f 202 */
shimniok 0:a6a169de725f 203 static inline float mavlink_msg_point_of_interest_get_z(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 204 {
shimniok 0:a6a169de725f 205 generic_32bit r;
shimniok 0:a6a169de725f 206 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 207 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 208 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 209 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 210 return (float)r.f;
shimniok 0:a6a169de725f 211 }
shimniok 0:a6a169de725f 212
shimniok 0:a6a169de725f 213 /**
shimniok 0:a6a169de725f 214 * @brief Get field name from point_of_interest message
shimniok 0:a6a169de725f 215 *
shimniok 0:a6a169de725f 216 * @return POI name
shimniok 0:a6a169de725f 217 */
shimniok 0:a6a169de725f 218 static inline uint16_t mavlink_msg_point_of_interest_get_name(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:a6a169de725f 219 {
shimniok 0:a6a169de725f 220
shimniok 0:a6a169de725f 221 memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float), 25);
shimniok 0:a6a169de725f 222 return 25;
shimniok 0:a6a169de725f 223 }
shimniok 0:a6a169de725f 224
shimniok 0:a6a169de725f 225 /**
shimniok 0:a6a169de725f 226 * @brief Decode a point_of_interest message into a struct
shimniok 0:a6a169de725f 227 *
shimniok 0:a6a169de725f 228 * @param msg The message to decode
shimniok 0:a6a169de725f 229 * @param point_of_interest C-struct to decode the message contents into
shimniok 0:a6a169de725f 230 */
shimniok 0:a6a169de725f 231 static inline void mavlink_msg_point_of_interest_decode(const mavlink_message_t* msg, mavlink_point_of_interest_t* point_of_interest)
shimniok 0:a6a169de725f 232 {
shimniok 0:a6a169de725f 233 point_of_interest->type = mavlink_msg_point_of_interest_get_type(msg);
shimniok 0:a6a169de725f 234 point_of_interest->color = mavlink_msg_point_of_interest_get_color(msg);
shimniok 0:a6a169de725f 235 point_of_interest->coordinate_system = mavlink_msg_point_of_interest_get_coordinate_system(msg);
shimniok 0:a6a169de725f 236 point_of_interest->timeout = mavlink_msg_point_of_interest_get_timeout(msg);
shimniok 0:a6a169de725f 237 point_of_interest->x = mavlink_msg_point_of_interest_get_x(msg);
shimniok 0:a6a169de725f 238 point_of_interest->y = mavlink_msg_point_of_interest_get_y(msg);
shimniok 0:a6a169de725f 239 point_of_interest->z = mavlink_msg_point_of_interest_get_z(msg);
shimniok 0:a6a169de725f 240 mavlink_msg_point_of_interest_get_name(msg, point_of_interest->name);
shimniok 0:a6a169de725f 241 }