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
Diff: MAVlink/include/common/mavlink_msg_waypoint_count.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_waypoint_count.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,138 @@ +// MESSAGE WAYPOINT_COUNT PACKING + +#define MAVLINK_MSG_ID_WAYPOINT_COUNT 44 + +typedef struct __mavlink_waypoint_count_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + uint16_t count; ///< Number of Waypoints in the Sequence + +} mavlink_waypoint_count_t; + + + +/** + * @brief Pack a waypoint_count 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 target_system System ID + * @param target_component Component ID + * @param count Number of Waypoints in the Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_count_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t count) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT; + + i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID + i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID + i += put_uint16_t_by_index(count, i, msg->payload); // Number of Waypoints in the Sequence + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a waypoint_count 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 target_system System ID + * @param target_component Component ID + * @param count Number of Waypoints in the Sequence + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_waypoint_count_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t count) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_WAYPOINT_COUNT; + + i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID + i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID + i += put_uint16_t_by_index(count, i, msg->payload); // Number of Waypoints in the Sequence + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a waypoint_count 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 waypoint_count C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_waypoint_count_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_count_t* waypoint_count) +{ + return mavlink_msg_waypoint_count_pack(system_id, component_id, msg, waypoint_count->target_system, waypoint_count->target_component, waypoint_count->count); +} + +/** + * @brief Send a waypoint_count message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param count Number of Waypoints in the Sequence + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_waypoint_count_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t count) +{ + mavlink_message_t msg; + mavlink_msg_waypoint_count_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, count); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE WAYPOINT_COUNT UNPACKING + +/** + * @brief Get field target_system from waypoint_count message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_waypoint_count_get_target_system(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field target_component from waypoint_count message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_waypoint_count_get_target_component(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; +} + +/** + * @brief Get field count from waypoint_count message + * + * @return Number of Waypoints in the Sequence + */ +static inline uint16_t mavlink_msg_waypoint_count_get_count(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Decode a waypoint_count message into a struct + * + * @param msg The message to decode + * @param waypoint_count C-struct to decode the message contents into + */ +static inline void mavlink_msg_waypoint_count_decode(const mavlink_message_t* msg, mavlink_waypoint_count_t* waypoint_count) +{ + waypoint_count->target_system = mavlink_msg_waypoint_count_get_target_system(msg); + waypoint_count->target_component = mavlink_msg_waypoint_count_get_target_component(msg); + waypoint_count->count = mavlink_msg_waypoint_count_get_count(msg); +}