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@25:bb5356402687, 2018-11-30 (annotated)
- Committer:
- shimniok
- Date:
- Fri Nov 30 16:11:53 2018 +0000
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
Initial publish of revised version.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | // MESSAGE WATCHDOG_PROCESS_STATUS PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS 152 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_watchdog_process_status_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint16_t watchdog_id; ///< Watchdog ID |
shimniok | 0:a6a169de725f | 8 | uint16_t process_id; ///< Process ID |
shimniok | 0:a6a169de725f | 9 | uint8_t state; ///< Is running / finished / suspended / crashed |
shimniok | 0:a6a169de725f | 10 | uint8_t muted; ///< Is muted |
shimniok | 0:a6a169de725f | 11 | int32_t pid; ///< PID |
shimniok | 0:a6a169de725f | 12 | uint16_t crashes; ///< Number of crashes |
shimniok | 0:a6a169de725f | 13 | |
shimniok | 0:a6a169de725f | 14 | } mavlink_watchdog_process_status_t; |
shimniok | 0:a6a169de725f | 15 | |
shimniok | 0:a6a169de725f | 16 | |
shimniok | 0:a6a169de725f | 17 | |
shimniok | 0:a6a169de725f | 18 | /** |
shimniok | 0:a6a169de725f | 19 | * @brief Pack a watchdog_process_status message |
shimniok | 0:a6a169de725f | 20 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 21 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 22 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 23 | * |
shimniok | 0:a6a169de725f | 24 | * @param watchdog_id Watchdog ID |
shimniok | 0:a6a169de725f | 25 | * @param process_id Process ID |
shimniok | 0:a6a169de725f | 26 | * @param state Is running / finished / suspended / crashed |
shimniok | 0:a6a169de725f | 27 | * @param muted Is muted |
shimniok | 0:a6a169de725f | 28 | * @param pid PID |
shimniok | 0:a6a169de725f | 29 | * @param crashes Number of crashes |
shimniok | 0:a6a169de725f | 30 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 31 | */ |
shimniok | 0:a6a169de725f | 32 | 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) |
shimniok | 0:a6a169de725f | 33 | { |
shimniok | 0:a6a169de725f | 34 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 35 | msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; |
shimniok | 0:a6a169de725f | 36 | |
shimniok | 0:a6a169de725f | 37 | i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID |
shimniok | 0:a6a169de725f | 38 | i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID |
shimniok | 0:a6a169de725f | 39 | i += put_uint8_t_by_index(state, i, msg->payload); // Is running / finished / suspended / crashed |
shimniok | 0:a6a169de725f | 40 | i += put_uint8_t_by_index(muted, i, msg->payload); // Is muted |
shimniok | 0:a6a169de725f | 41 | i += put_int32_t_by_index(pid, i, msg->payload); // PID |
shimniok | 0:a6a169de725f | 42 | i += put_uint16_t_by_index(crashes, i, msg->payload); // Number of crashes |
shimniok | 0:a6a169de725f | 43 | |
shimniok | 0:a6a169de725f | 44 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 45 | } |
shimniok | 0:a6a169de725f | 46 | |
shimniok | 0:a6a169de725f | 47 | /** |
shimniok | 0:a6a169de725f | 48 | * @brief Pack a watchdog_process_status message |
shimniok | 0:a6a169de725f | 49 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 50 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 51 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 52 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 53 | * @param watchdog_id Watchdog ID |
shimniok | 0:a6a169de725f | 54 | * @param process_id Process ID |
shimniok | 0:a6a169de725f | 55 | * @param state Is running / finished / suspended / crashed |
shimniok | 0:a6a169de725f | 56 | * @param muted Is muted |
shimniok | 0:a6a169de725f | 57 | * @param pid PID |
shimniok | 0:a6a169de725f | 58 | * @param crashes Number of crashes |
shimniok | 0:a6a169de725f | 59 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 60 | */ |
shimniok | 0:a6a169de725f | 61 | 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) |
shimniok | 0:a6a169de725f | 62 | { |
shimniok | 0:a6a169de725f | 63 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 64 | msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS; |
shimniok | 0:a6a169de725f | 65 | |
shimniok | 0:a6a169de725f | 66 | i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID |
shimniok | 0:a6a169de725f | 67 | i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID |
shimniok | 0:a6a169de725f | 68 | i += put_uint8_t_by_index(state, i, msg->payload); // Is running / finished / suspended / crashed |
shimniok | 0:a6a169de725f | 69 | i += put_uint8_t_by_index(muted, i, msg->payload); // Is muted |
shimniok | 0:a6a169de725f | 70 | i += put_int32_t_by_index(pid, i, msg->payload); // PID |
shimniok | 0:a6a169de725f | 71 | i += put_uint16_t_by_index(crashes, i, msg->payload); // Number of crashes |
shimniok | 0:a6a169de725f | 72 | |
shimniok | 0:a6a169de725f | 73 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 74 | } |
shimniok | 0:a6a169de725f | 75 | |
shimniok | 0:a6a169de725f | 76 | /** |
shimniok | 0:a6a169de725f | 77 | * @brief Encode a watchdog_process_status struct into a message |
shimniok | 0:a6a169de725f | 78 | * |
shimniok | 0:a6a169de725f | 79 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 80 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 81 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 82 | * @param watchdog_process_status C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 83 | */ |
shimniok | 0:a6a169de725f | 84 | 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) |
shimniok | 0:a6a169de725f | 85 | { |
shimniok | 0:a6a169de725f | 86 | 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); |
shimniok | 0:a6a169de725f | 87 | } |
shimniok | 0:a6a169de725f | 88 | |
shimniok | 0:a6a169de725f | 89 | /** |
shimniok | 0:a6a169de725f | 90 | * @brief Send a watchdog_process_status message |
shimniok | 0:a6a169de725f | 91 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 92 | * |
shimniok | 0:a6a169de725f | 93 | * @param watchdog_id Watchdog ID |
shimniok | 0:a6a169de725f | 94 | * @param process_id Process ID |
shimniok | 0:a6a169de725f | 95 | * @param state Is running / finished / suspended / crashed |
shimniok | 0:a6a169de725f | 96 | * @param muted Is muted |
shimniok | 0:a6a169de725f | 97 | * @param pid PID |
shimniok | 0:a6a169de725f | 98 | * @param crashes Number of crashes |
shimniok | 0:a6a169de725f | 99 | */ |
shimniok | 0:a6a169de725f | 100 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 101 | |
shimniok | 0:a6a169de725f | 102 | 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) |
shimniok | 0:a6a169de725f | 103 | { |
shimniok | 0:a6a169de725f | 104 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 105 | mavlink_msg_watchdog_process_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_id, state, muted, pid, crashes); |
shimniok | 0:a6a169de725f | 106 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 107 | } |
shimniok | 0:a6a169de725f | 108 | |
shimniok | 0:a6a169de725f | 109 | #endif |
shimniok | 0:a6a169de725f | 110 | // MESSAGE WATCHDOG_PROCESS_STATUS UNPACKING |
shimniok | 0:a6a169de725f | 111 | |
shimniok | 0:a6a169de725f | 112 | /** |
shimniok | 0:a6a169de725f | 113 | * @brief Get field watchdog_id from watchdog_process_status message |
shimniok | 0:a6a169de725f | 114 | * |
shimniok | 0:a6a169de725f | 115 | * @return Watchdog ID |
shimniok | 0:a6a169de725f | 116 | */ |
shimniok | 0:a6a169de725f | 117 | static inline uint16_t mavlink_msg_watchdog_process_status_get_watchdog_id(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 118 | { |
shimniok | 0:a6a169de725f | 119 | generic_16bit r; |
shimniok | 0:a6a169de725f | 120 | r.b[1] = (msg->payload)[0]; |
shimniok | 0:a6a169de725f | 121 | r.b[0] = (msg->payload)[1]; |
shimniok | 0:a6a169de725f | 122 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 123 | } |
shimniok | 0:a6a169de725f | 124 | |
shimniok | 0:a6a169de725f | 125 | /** |
shimniok | 0:a6a169de725f | 126 | * @brief Get field process_id from watchdog_process_status message |
shimniok | 0:a6a169de725f | 127 | * |
shimniok | 0:a6a169de725f | 128 | * @return Process ID |
shimniok | 0:a6a169de725f | 129 | */ |
shimniok | 0:a6a169de725f | 130 | static inline uint16_t mavlink_msg_watchdog_process_status_get_process_id(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 131 | { |
shimniok | 0:a6a169de725f | 132 | generic_16bit r; |
shimniok | 0:a6a169de725f | 133 | r.b[1] = (msg->payload+sizeof(uint16_t))[0]; |
shimniok | 0:a6a169de725f | 134 | r.b[0] = (msg->payload+sizeof(uint16_t))[1]; |
shimniok | 0:a6a169de725f | 135 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 136 | } |
shimniok | 0:a6a169de725f | 137 | |
shimniok | 0:a6a169de725f | 138 | /** |
shimniok | 0:a6a169de725f | 139 | * @brief Get field state from watchdog_process_status message |
shimniok | 0:a6a169de725f | 140 | * |
shimniok | 0:a6a169de725f | 141 | * @return Is running / finished / suspended / crashed |
shimniok | 0:a6a169de725f | 142 | */ |
shimniok | 0:a6a169de725f | 143 | static inline uint8_t mavlink_msg_watchdog_process_status_get_state(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 144 | { |
shimniok | 0:a6a169de725f | 145 | return (uint8_t)(msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0]; |
shimniok | 0:a6a169de725f | 146 | } |
shimniok | 0:a6a169de725f | 147 | |
shimniok | 0:a6a169de725f | 148 | /** |
shimniok | 0:a6a169de725f | 149 | * @brief Get field muted from watchdog_process_status message |
shimniok | 0:a6a169de725f | 150 | * |
shimniok | 0:a6a169de725f | 151 | * @return Is muted |
shimniok | 0:a6a169de725f | 152 | */ |
shimniok | 0:a6a169de725f | 153 | static inline uint8_t mavlink_msg_watchdog_process_status_get_muted(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 154 | { |
shimniok | 0:a6a169de725f | 155 | return (uint8_t)(msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 156 | } |
shimniok | 0:a6a169de725f | 157 | |
shimniok | 0:a6a169de725f | 158 | /** |
shimniok | 0:a6a169de725f | 159 | * @brief Get field pid from watchdog_process_status message |
shimniok | 0:a6a169de725f | 160 | * |
shimniok | 0:a6a169de725f | 161 | * @return PID |
shimniok | 0:a6a169de725f | 162 | */ |
shimniok | 0:a6a169de725f | 163 | static inline int32_t mavlink_msg_watchdog_process_status_get_pid(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 164 | { |
shimniok | 0:a6a169de725f | 165 | generic_32bit r; |
shimniok | 0:a6a169de725f | 166 | r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 167 | r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; |
shimniok | 0:a6a169de725f | 168 | r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[2]; |
shimniok | 0:a6a169de725f | 169 | r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[3]; |
shimniok | 0:a6a169de725f | 170 | return (int32_t)r.i; |
shimniok | 0:a6a169de725f | 171 | } |
shimniok | 0:a6a169de725f | 172 | |
shimniok | 0:a6a169de725f | 173 | /** |
shimniok | 0:a6a169de725f | 174 | * @brief Get field crashes from watchdog_process_status message |
shimniok | 0:a6a169de725f | 175 | * |
shimniok | 0:a6a169de725f | 176 | * @return Number of crashes |
shimniok | 0:a6a169de725f | 177 | */ |
shimniok | 0:a6a169de725f | 178 | static inline uint16_t mavlink_msg_watchdog_process_status_get_crashes(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 179 | { |
shimniok | 0:a6a169de725f | 180 | generic_16bit r; |
shimniok | 0:a6a169de725f | 181 | r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[0]; |
shimniok | 0:a6a169de725f | 182 | r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int32_t))[1]; |
shimniok | 0:a6a169de725f | 183 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 184 | } |
shimniok | 0:a6a169de725f | 185 | |
shimniok | 0:a6a169de725f | 186 | /** |
shimniok | 0:a6a169de725f | 187 | * @brief Decode a watchdog_process_status message into a struct |
shimniok | 0:a6a169de725f | 188 | * |
shimniok | 0:a6a169de725f | 189 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 190 | * @param watchdog_process_status C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 191 | */ |
shimniok | 0:a6a169de725f | 192 | static inline void mavlink_msg_watchdog_process_status_decode(const mavlink_message_t* msg, mavlink_watchdog_process_status_t* watchdog_process_status) |
shimniok | 0:a6a169de725f | 193 | { |
shimniok | 0:a6a169de725f | 194 | watchdog_process_status->watchdog_id = mavlink_msg_watchdog_process_status_get_watchdog_id(msg); |
shimniok | 0:a6a169de725f | 195 | watchdog_process_status->process_id = mavlink_msg_watchdog_process_status_get_process_id(msg); |
shimniok | 0:a6a169de725f | 196 | watchdog_process_status->state = mavlink_msg_watchdog_process_status_get_state(msg); |
shimniok | 0:a6a169de725f | 197 | watchdog_process_status->muted = mavlink_msg_watchdog_process_status_get_muted(msg); |
shimniok | 0:a6a169de725f | 198 | watchdog_process_status->pid = mavlink_msg_watchdog_process_status_get_pid(msg); |
shimniok | 0:a6a169de725f | 199 | watchdog_process_status->crashes = mavlink_msg_watchdog_process_status_get_crashes(msg); |
shimniok | 0:a6a169de725f | 200 | } |