![](/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_status.h
- Committer:
- shimniok
- Date:
- 2013-05-27
- Revision:
- 0:a6a169de725f
File content as of revision 0:a6a169de725f:
// MESSAGE WATCHDOG_PROCESS_STATUS PACKING #define MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS 152 typedef struct __mavlink_watchdog_process_status_t { uint16_t watchdog_id; ///< Watchdog ID uint16_t process_id; ///< Process ID uint8_t state; ///< Is running / finished / suspended / crashed uint8_t muted; ///< Is muted int32_t pid; ///< PID uint16_t crashes; ///< Number of crashes } mavlink_watchdog_process_status_t; /** * @brief Pack a watchdog_process_status 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 state Is running / finished / suspended / crashed * @param muted Is muted * @param pid PID * @param crashes Number of crashes * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_watchdog_process_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; 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_uint8_t_by_index(state, i, msg->payload); // Is running / finished / suspended / crashed i += put_uint8_t_by_index(muted, i, msg->payload); // Is muted i += put_int32_t_by_index(pid, i, msg->payload); // PID i += put_uint16_t_by_index(crashes, i, msg->payload); // Number of crashes return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a watchdog_process_status 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 state Is running / finished / suspended / crashed * @param muted Is muted * @param pid PID * @param crashes Number of crashes * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_watchdog_process_status_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, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; 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_uint8_t_by_index(state, i, msg->payload); // Is running / finished / suspended / crashed i += put_uint8_t_by_index(muted, i, msg->payload); // Is muted i += put_int32_t_by_index(pid, i, msg->payload); // PID i += put_uint16_t_by_index(crashes, i, msg->payload); // Number of crashes return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a watchdog_process_status 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_status C-struct to read the message contents from */ static inline uint16_t mavlink_msg_watchdog_process_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_process_status_t* watchdog_process_status) { return mavlink_msg_watchdog_process_status_pack(system_id, component_id, msg, watchdog_process_status->watchdog_id, watchdog_process_status->process_id, watchdog_process_status->state, watchdog_process_status->muted, watchdog_process_status->pid, watchdog_process_status->crashes); } /** * @brief Send a watchdog_process_status message * @param chan MAVLink channel to send the message * * @param watchdog_id Watchdog ID * @param process_id Process ID * @param state Is running / finished / suspended / crashed * @param muted Is muted * @param pid PID * @param crashes Number of crashes */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_watchdog_process_status_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes) { mavlink_message_t msg; mavlink_msg_watchdog_process_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_id, state, muted, pid, crashes); mavlink_send_uart(chan, &msg); } #endif // MESSAGE WATCHDOG_PROCESS_STATUS UNPACKING /** * @brief Get field watchdog_id from watchdog_process_status message * * @return Watchdog ID */ static inline uint16_t mavlink_msg_watchdog_process_status_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_status message * * @return Process ID */ static inline uint16_t mavlink_msg_watchdog_process_status_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 state from watchdog_process_status message * * @return Is running / finished / suspended / crashed */ static inline uint8_t mavlink_msg_watchdog_process_status_get_state(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0]; } /** * @brief Get field muted from watchdog_process_status message * * @return Is muted */ static inline uint8_t mavlink_msg_watchdog_process_status_get_muted(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[0]; } /** * @brief Get field pid from watchdog_process_status message * * @return PID */ static inline int32_t mavlink_msg_watchdog_process_status_get_pid(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[2]; r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[3]; return (int32_t)r.i; } /** * @brief Get field crashes from watchdog_process_status message * * @return Number of crashes */ static inline uint16_t mavlink_msg_watchdog_process_status_get_crashes(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[0]; r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[1]; return (uint16_t)r.s; } /** * @brief Decode a watchdog_process_status message into a struct * * @param msg The message to decode * @param watchdog_process_status C-struct to decode the message contents into */ static inline void mavlink_msg_watchdog_process_status_decode(const mavlink_message_t* msg, mavlink_watchdog_process_status_t* watchdog_process_status) { watchdog_process_status->watchdog_id = mavlink_msg_watchdog_process_status_get_watchdog_id(msg); watchdog_process_status->process_id = mavlink_msg_watchdog_process_status_get_process_id(msg); watchdog_process_status->state = mavlink_msg_watchdog_process_status_get_state(msg); watchdog_process_status->muted = mavlink_msg_watchdog_process_status_get_muted(msg); watchdog_process_status->pid = mavlink_msg_watchdog_process_status_get_pid(msg); watchdog_process_status->crashes = mavlink_msg_watchdog_process_status_get_crashes(msg); }