Diff: MAVlink/include/common/mavlink_msg_command_ack.h

Revision:

0:a6a169de725f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_command_ack.h	Mon May 27 13:26:03 2013 +0000
@@ -0,0 +1,128 @@
+// MESSAGE COMMAND_ACK PACKING
+
+#define MAVLINK_MSG_ID_COMMAND_ACK 76
+
+typedef struct __mavlink_command_ack_t 
+{
+    float command; ///< Current airspeed in m/s
+    float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+
+} mavlink_command_ack_t;
+
+
+
+/**
+ * @brief Pack a command_ack message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param command Current airspeed in m/s
+ * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float command, float result)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
+
+    i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
+    i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+
+    return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a command_ack message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param command Current airspeed in m/s
+ * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float command, float result)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
+
+    i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
+    i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a command_ack struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param command_ack C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
+{
+    return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
+}
+
+/**
+ * @brief Send a command_ack message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param command Current airspeed in m/s
+ * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
+{
+    mavlink_message_t msg;
+    mavlink_msg_command_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, command, result);
+    mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE COMMAND_ACK UNPACKING
+
+/**
+ * @brief Get field command from command_ack message
+ *
+ * @return Current airspeed in m/s
+ */
+static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload)[0];
+    r.b[2] = (msg->payload)[1];
+    r.b[1] = (msg->payload)[2];
+    r.b[0] = (msg->payload)[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Get field result from command_ack message
+ *
+ * @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ */
+static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(float))[0];
+    r.b[2] = (msg->payload+sizeof(float))[1];
+    r.b[1] = (msg->payload+sizeof(float))[2];
+    r.b[0] = (msg->payload+sizeof(float))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Decode a command_ack message into a struct
+ *
+ * @param msg The message to decode
+ * @param command_ack C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
+{
+    command_ack->command = mavlink_msg_command_ack_get_command(msg);
+    command_ack->result = mavlink_msg_command_ack_get_result(msg);
+}