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_statustext.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/common/mavlink_msg_statustext.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_statustext.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,121 @@ +// MESSAGE STATUSTEXT PACKING + +#define MAVLINK_MSG_ID_STATUSTEXT 254 + +typedef struct __mavlink_statustext_t +{ + uint8_t severity; ///< Severity of status, 0 = info message, 255 = critical fault + int8_t text[50]; ///< Status text message, without null termination character + +} mavlink_statustext_t; + +#define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50 + + +/** + * @brief Pack a statustext 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 severity Severity of status, 0 = info message, 255 = critical fault + * @param text Status text message, without null termination character + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t severity, const int8_t* text) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; + + i += put_uint8_t_by_index(severity, i, msg->payload); // Severity of status, 0 = info message, 255 = critical fault + i += put_array_by_index((const int8_t*)text, sizeof(int8_t)*50, i, msg->payload); // Status text message, without null termination character + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a statustext 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 severity Severity of status, 0 = info message, 255 = critical fault + * @param text Status text message, without null termination character + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t severity, const int8_t* text) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_STATUSTEXT; + + i += put_uint8_t_by_index(severity, i, msg->payload); // Severity of status, 0 = info message, 255 = critical fault + i += put_array_by_index((const int8_t*)text, sizeof(int8_t)*50, i, msg->payload); // Status text message, without null termination character + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a statustext 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 statustext C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_statustext_t* statustext) +{ + return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text); +} + +/** + * @brief Send a statustext message + * @param chan MAVLink channel to send the message + * + * @param severity Severity of status, 0 = info message, 255 = critical fault + * @param text Status text message, without null termination character + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const int8_t* text) +{ + mavlink_message_t msg; + mavlink_msg_statustext_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, severity, text); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE STATUSTEXT UNPACKING + +/** + * @brief Get field severity from statustext message + * + * @return Severity of status, 0 = info message, 255 = critical fault + */ +static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field text from statustext message + * + * @return Status text message, without null termination character + */ +static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, int8_t* r_data) +{ + + memcpy(r_data, msg->payload+sizeof(uint8_t), sizeof(int8_t)*50); + return sizeof(int8_t)*50; +} + +/** + * @brief Decode a statustext message into a struct + * + * @param msg The message to decode + * @param statustext C-struct to decode the message contents into + */ +static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext) +{ + statustext->severity = mavlink_msg_statustext_get_severity(msg); + mavlink_msg_statustext_get_text(msg, statustext->text); +}