![](/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/common/mavlink_msg_action.h
- Committer:
- shimniok
- Date:
- 2018-11-30
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
File content as of revision 25:bb5356402687:
// MESSAGE ACTION PACKING #define MAVLINK_MSG_ID_ACTION 10 typedef struct __mavlink_action_t { uint8_t target; ///< The system executing the action uint8_t target_component; ///< The component executing the action uint8_t action; ///< The action id } mavlink_action_t; /** * @brief Pack a action 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 The system executing the action * @param target_component The component executing the action * @param action The action id * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_ACTION; i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action i += put_uint8_t_by_index(action, i, msg->payload); // The action id return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a action 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 The system executing the action * @param target_component The component executing the action * @param action The action id * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_ACTION; i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action i += put_uint8_t_by_index(action, i, msg->payload); // The action id return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a action 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 action C-struct to read the message contents from */ static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_t* action) { return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action); } /** * @brief Send a action message * @param chan MAVLink channel to send the message * * @param target The system executing the action * @param target_component The component executing the action * @param action The action id */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action) { mavlink_message_t msg; mavlink_msg_action_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, target_component, action); mavlink_send_uart(chan, &msg); } #endif // MESSAGE ACTION UNPACKING /** * @brief Get field target from action message * * @return The system executing the action */ static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg) { return (uint8_t)(msg->payload)[0]; } /** * @brief Get field target_component from action message * * @return The component executing the action */ static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; } /** * @brief Get field action from action message * * @return The action id */ static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; } /** * @brief Decode a action message into a struct * * @param msg The message to decode * @param action C-struct to decode the message contents into */ static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action) { action->target = mavlink_msg_action_get_target(msg); action->target_component = mavlink_msg_action_get_target_component(msg); action->action = mavlink_msg_action_get_action(msg); }