![](/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_watchdog_process_info.h
- Committer:
- shimniok
- Date:
- 2013-05-27
- Revision:
- 0:a6a169de725f
File content as of revision 0:a6a169de725f:
// MESSAGE WATCHDOG_PROCESS_INFO PACKING #define MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO 151 typedef struct __mavlink_watchdog_process_info_t { uint16_t watchdog_id; ///< Watchdog ID uint16_t process_id; ///< Process ID int8_t name[100]; ///< Process name int8_t arguments[147]; ///< Process arguments int32_t timeout; ///< Timeout (seconds) } mavlink_watchdog_process_info_t; #define MAVLINK_MSG_WATCHDOG_PROCESS_INFO_FIELD_NAME_LEN 100 #define MAVLINK_MSG_WATCHDOG_PROCESS_INFO_FIELD_ARGUMENTS_LEN 147 /** * @brief Pack a watchdog_process_info 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 watchdog_id Watchdog ID * @param process_id Process ID * @param name Process name * @param arguments Process arguments * @param timeout Timeout (seconds) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_watchdog_process_info_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_id, const int8_t* name, const int8_t* arguments, int32_t timeout) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID i += put_array_by_index(name, 100, i, msg->payload); // Process name i += put_array_by_index(arguments, 147, i, msg->payload); // Process arguments i += put_int32_t_by_index(timeout, i, msg->payload); // Timeout (seconds) return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a watchdog_process_info 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 watchdog_id Watchdog ID * @param process_id Process ID * @param name Process name * @param arguments Process arguments * @param timeout Timeout (seconds) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_watchdog_process_info_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_id, const int8_t* name, const int8_t* arguments, int32_t timeout) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID i += put_array_by_index(name, 100, i, msg->payload); // Process name i += put_array_by_index(arguments, 147, i, msg->payload); // Process arguments i += put_int32_t_by_index(timeout, i, msg->payload); // Timeout (seconds) return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a watchdog_process_info 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 watchdog_process_info C-struct to read the message contents from */ static inline uint16_t mavlink_msg_watchdog_process_info_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_process_info_t* watchdog_process_info) { return mavlink_msg_watchdog_process_info_pack(system_id, component_id, msg, watchdog_process_info->watchdog_id, watchdog_process_info->process_id, watchdog_process_info->name, watchdog_process_info->arguments, watchdog_process_info->timeout); } /** * @brief Send a watchdog_process_info message * @param chan MAVLink channel to send the message * * @param watchdog_id Watchdog ID * @param process_id Process ID * @param name Process name * @param arguments Process arguments * @param timeout Timeout (seconds) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_watchdog_process_info_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, const int8_t* name, const int8_t* arguments, int32_t timeout) { mavlink_message_t msg; mavlink_msg_watchdog_process_info_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_id, name, arguments, timeout); mavlink_send_uart(chan, &msg); } #endif // MESSAGE WATCHDOG_PROCESS_INFO UNPACKING /** * @brief Get field watchdog_id from watchdog_process_info message * * @return Watchdog ID */ static inline uint16_t mavlink_msg_watchdog_process_info_get_watchdog_id(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 process_id from watchdog_process_info message * * @return Process ID */ static inline uint16_t mavlink_msg_watchdog_process_info_get_process_id(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(uint16_t))[0]; r.b[0] = (msg->payload+sizeof(uint16_t))[1]; return (uint16_t)r.s; } /** * @brief Get field name from watchdog_process_info message * * @return Process name */ static inline uint16_t mavlink_msg_watchdog_process_info_get_name(const mavlink_message_t* msg, int8_t* r_data) { memcpy(r_data, msg->payload+sizeof(uint16_t)+sizeof(uint16_t), 100); return 100; } /** * @brief Get field arguments from watchdog_process_info message * * @return Process arguments */ static inline uint16_t mavlink_msg_watchdog_process_info_get_arguments(const mavlink_message_t* msg, int8_t* r_data) { memcpy(r_data, msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100, 147); return 147; } /** * @brief Get field timeout from watchdog_process_info message * * @return Timeout (seconds) */ static inline int32_t mavlink_msg_watchdog_process_info_get_timeout(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[0]; r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[1]; r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[2]; r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[3]; return (int32_t)r.i; } /** * @brief Decode a watchdog_process_info message into a struct * * @param msg The message to decode * @param watchdog_process_info C-struct to decode the message contents into */ static inline void mavlink_msg_watchdog_process_info_decode(const mavlink_message_t* msg, mavlink_watchdog_process_info_t* watchdog_process_info) { watchdog_process_info->watchdog_id = mavlink_msg_watchdog_process_info_get_watchdog_id(msg); watchdog_process_info->process_id = mavlink_msg_watchdog_process_info_get_process_id(msg); mavlink_msg_watchdog_process_info_get_name(msg, watchdog_process_info->name); mavlink_msg_watchdog_process_info_get_arguments(msg, watchdog_process_info->arguments); watchdog_process_info->timeout = mavlink_msg_watchdog_process_info_get_timeout(msg); }