Diff: MAVlink/include/common/mavlink_msg_debug.h

Revision:

0:a6a169de725f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_debug.h	Mon May 27 13:26:03 2013 +0000
@@ -0,0 +1,123 @@
+// MESSAGE DEBUG PACKING
+
+#define MAVLINK_MSG_ID_DEBUG 255
+
+typedef struct __mavlink_debug_t 
+{
+    uint8_t ind; ///< index of debug variable
+    float value; ///< DEBUG value
+
+} mavlink_debug_t;
+
+
+
+/**
+ * @brief Pack a debug 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 ind index of debug variable
+ * @param value DEBUG value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t ind, float value)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_DEBUG;
+
+    i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable
+    i += put_float_by_index(value, i, msg->payload); // DEBUG value
+
+    return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a debug 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 ind index of debug variable
+ * @param value DEBUG value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t ind, float value)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_DEBUG;
+
+    i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable
+    i += put_float_by_index(value, i, msg->payload); // DEBUG value
+
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a debug 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 debug C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
+{
+    return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value);
+}
+
+/**
+ * @brief Send a debug message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param ind index of debug variable
+ * @param value DEBUG value
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value)
+{
+    mavlink_message_t msg;
+    mavlink_msg_debug_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, ind, value);
+    mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE DEBUG UNPACKING
+
+/**
+ * @brief Get field ind from debug message
+ *
+ * @return index of debug variable
+ */
+static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
+{
+    return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field value from debug message
+ *
+ * @return DEBUG value
+ */
+static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint8_t))[0];
+    r.b[2] = (msg->payload+sizeof(uint8_t))[1];
+    r.b[1] = (msg->payload+sizeof(uint8_t))[2];
+    r.b[0] = (msg->payload+sizeof(uint8_t))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Decode a debug message into a struct
+ *
+ * @param msg The message to decode
+ * @param debug C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
+{
+    debug->ind = mavlink_msg_debug_get_ind(msg);
+    debug->value = mavlink_msg_debug_get_value(msg);
+}