![](/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/slugs/mavlink_msg_slugs_action.h
- Committer:
- shimniok
- Date:
- 2018-11-30
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
File content as of revision 25:bb5356402687:
// MESSAGE SLUGS_ACTION PACKING #define MAVLINK_MSG_ID_SLUGS_ACTION 183 typedef struct __mavlink_slugs_action_t { uint8_t target; ///< The system reporting the action uint8_t actionId; ///< Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names uint16_t actionVal; ///< Value associated with the action } mavlink_slugs_action_t; /** * @brief Pack a slugs_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 reporting the action * @param actionId Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names * @param actionVal Value associated with the action * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_slugs_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t actionId, uint16_t actionVal) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_SLUGS_ACTION; i += put_uint8_t_by_index(target, i, msg->payload); // The system reporting the action i += put_uint8_t_by_index(actionId, i, msg->payload); // Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names i += put_uint16_t_by_index(actionVal, i, msg->payload); // Value associated with the action return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a slugs_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 reporting the action * @param actionId Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names * @param actionVal Value associated with the action * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_slugs_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t actionId, uint16_t actionVal) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_SLUGS_ACTION; i += put_uint8_t_by_index(target, i, msg->payload); // The system reporting the action i += put_uint8_t_by_index(actionId, i, msg->payload); // Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names i += put_uint16_t_by_index(actionVal, i, msg->payload); // Value associated with the action return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a slugs_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 slugs_action C-struct to read the message contents from */ static inline uint16_t mavlink_msg_slugs_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_slugs_action_t* slugs_action) { return mavlink_msg_slugs_action_pack(system_id, component_id, msg, slugs_action->target, slugs_action->actionId, slugs_action->actionVal); } /** * @brief Send a slugs_action message * @param chan MAVLink channel to send the message * * @param target The system reporting the action * @param actionId Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names * @param actionVal Value associated with the action */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_slugs_action_send(mavlink_channel_t chan, uint8_t target, uint8_t actionId, uint16_t actionVal) { mavlink_message_t msg; mavlink_msg_slugs_action_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, actionId, actionVal); mavlink_send_uart(chan, &msg); } #endif // MESSAGE SLUGS_ACTION UNPACKING /** * @brief Get field target from slugs_action message * * @return The system reporting the action */ static inline uint8_t mavlink_msg_slugs_action_get_target(const mavlink_message_t* msg) { return (uint8_t)(msg->payload)[0]; } /** * @brief Get field actionId from slugs_action message * * @return Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names */ static inline uint8_t mavlink_msg_slugs_action_get_actionId(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; } /** * @brief Get field actionVal from slugs_action message * * @return Value associated with the action */ static inline uint16_t mavlink_msg_slugs_action_get_actionVal(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 slugs_action message into a struct * * @param msg The message to decode * @param slugs_action C-struct to decode the message contents into */ static inline void mavlink_msg_slugs_action_decode(const mavlink_message_t* msg, mavlink_slugs_action_t* slugs_action) { slugs_action->target = mavlink_msg_slugs_action_get_target(msg); slugs_action->actionId = mavlink_msg_slugs_action_get_actionId(msg); slugs_action->actionVal = mavlink_msg_slugs_action_get_actionVal(msg); }