![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
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_encapsulated_data.h
- Committer:
- shimniok
- Date:
- 2013-05-27
- Revision:
- 0:a6a169de725f
File content as of revision 0:a6a169de725f:
// MESSAGE ENCAPSULATED_DATA PACKING #define MAVLINK_MSG_ID_ENCAPSULATED_DATA 171 typedef struct __mavlink_encapsulated_data_t { uint16_t seqnr; ///< sequence number (starting with 0 on every transmission) uint8_t data[253]; ///< image data bytes } mavlink_encapsulated_data_t; #define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253 /** * @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission) * @param data image data bytes * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission) i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission) * @param data image data bytes * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission) i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a encapsulated_data 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 encapsulated_data C-struct to read the message contents from */ static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data) { return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data); } /** * @brief Send a encapsulated_data message * @param chan MAVLink channel to send the message * * @param seqnr sequence number (starting with 0 on every transmission) * @param data image data bytes */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t* data) { mavlink_message_t msg; mavlink_msg_encapsulated_data_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seqnr, data); mavlink_send_uart(chan, &msg); } #endif // MESSAGE ENCAPSULATED_DATA UNPACKING /** * @brief Get field seqnr from encapsulated_data message * * @return sequence number (starting with 0 on every transmission) */ static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload)[0]; r.b[0] = (msg->payload)[1]; return (uint16_t)r.s; } /** * @brief Get field data from encapsulated_data message * * @return image data bytes */ static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t* r_data) { memcpy(r_data, msg->payload+sizeof(uint16_t), sizeof(uint8_t)*253); return sizeof(uint8_t)*253; } /** * @brief Decode a encapsulated_data message into a struct * * @param msg The message to decode * @param encapsulated_data C-struct to decode the message contents into */ static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data) { encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg); mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data); }