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
Diff: MAVlink/include/common/mavlink_msg_action_ack.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/common/mavlink_msg_action_ack.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_action_ack.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,118 @@ +// MESSAGE ACTION_ACK PACKING + +#define MAVLINK_MSG_ID_ACTION_ACK 9 + +typedef struct __mavlink_action_ack_t +{ + uint8_t action; ///< The action id + uint8_t result; ///< 0: Action DENIED, 1: Action executed + +} mavlink_action_ack_t; + + + +/** + * @brief Pack a action_ack 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 The action id + * @param result 0: Action DENIED, 1: Action executed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t action, uint8_t result) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_ACTION_ACK; + + i += put_uint8_t_by_index(action, i, msg->payload); // The action id + i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a action_ack 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 action The action id + * @param result 0: Action DENIED, 1: Action executed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t action, uint8_t result) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_ACTION_ACK; + + i += put_uint8_t_by_index(action, i, msg->payload); // The action id + i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a action_ack 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_ack C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_ack_t* action_ack) +{ + return mavlink_msg_action_ack_pack(system_id, component_id, msg, action_ack->action, action_ack->result); +} + +/** + * @brief Send a action_ack message + * @param chan MAVLink channel to send the message + * + * @param action The action id + * @param result 0: Action DENIED, 1: Action executed + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result) +{ + mavlink_message_t msg; + mavlink_msg_action_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, action, result); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE ACTION_ACK UNPACKING + +/** + * @brief Get field action from action_ack message + * + * @return The action id + */ +static inline uint8_t mavlink_msg_action_ack_get_action(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field result from action_ack message + * + * @return 0: Action DENIED, 1: Action executed + */ +static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; +} + +/** + * @brief Decode a action_ack message into a struct + * + * @param msg The message to decode + * @param action_ack C-struct to decode the message contents into + */ +static inline void mavlink_msg_action_ack_decode(const mavlink_message_t* msg, mavlink_action_ack_t* action_ack) +{ + action_ack->action = mavlink_msg_action_ack_get_action(msg); + action_ack->result = mavlink_msg_action_ack_get_result(msg); +}