![](/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
Diff: MAVlink/include/pixhawk/mavlink_msg_pattern_detected.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/pixhawk/mavlink_msg_pattern_detected.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_pattern_detected.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,160 @@ +// MESSAGE PATTERN_DETECTED PACKING + +#define MAVLINK_MSG_ID_PATTERN_DETECTED 160 + +typedef struct __mavlink_pattern_detected_t +{ + uint8_t type; ///< 0: Pattern, 1: Letter + float confidence; ///< Confidence of detection + int8_t file[100]; ///< Pattern file name + uint8_t detected; ///< Accepted as true detection, 0 no, 1 yes + +} mavlink_pattern_detected_t; + +#define MAVLINK_MSG_PATTERN_DETECTED_FIELD_FILE_LEN 100 + + +/** + * @brief Pack a pattern_detected 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 type 0: Pattern, 1: Letter + * @param confidence Confidence of detection + * @param file Pattern file name + * @param detected Accepted as true detection, 0 no, 1 yes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_pattern_detected_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, float confidence, const int8_t* file, uint8_t detected) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED; + + i += put_uint8_t_by_index(type, i, msg->payload); // 0: Pattern, 1: Letter + i += put_float_by_index(confidence, i, msg->payload); // Confidence of detection + i += put_array_by_index(file, 100, i, msg->payload); // Pattern file name + i += put_uint8_t_by_index(detected, i, msg->payload); // Accepted as true detection, 0 no, 1 yes + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a pattern_detected 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 type 0: Pattern, 1: Letter + * @param confidence Confidence of detection + * @param file Pattern file name + * @param detected Accepted as true detection, 0 no, 1 yes + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_pattern_detected_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, float confidence, const int8_t* file, uint8_t detected) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED; + + i += put_uint8_t_by_index(type, i, msg->payload); // 0: Pattern, 1: Letter + i += put_float_by_index(confidence, i, msg->payload); // Confidence of detection + i += put_array_by_index(file, 100, i, msg->payload); // Pattern file name + i += put_uint8_t_by_index(detected, i, msg->payload); // Accepted as true detection, 0 no, 1 yes + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a pattern_detected 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 pattern_detected C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_pattern_detected_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pattern_detected_t* pattern_detected) +{ + return mavlink_msg_pattern_detected_pack(system_id, component_id, msg, pattern_detected->type, pattern_detected->confidence, pattern_detected->file, pattern_detected->detected); +} + +/** + * @brief Send a pattern_detected message + * @param chan MAVLink channel to send the message + * + * @param type 0: Pattern, 1: Letter + * @param confidence Confidence of detection + * @param file Pattern file name + * @param detected Accepted as true detection, 0 no, 1 yes + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_pattern_detected_send(mavlink_channel_t chan, uint8_t type, float confidence, const int8_t* file, uint8_t detected) +{ + mavlink_message_t msg; + mavlink_msg_pattern_detected_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, confidence, file, detected); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE PATTERN_DETECTED UNPACKING + +/** + * @brief Get field type from pattern_detected message + * + * @return 0: Pattern, 1: Letter + */ +static inline uint8_t mavlink_msg_pattern_detected_get_type(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field confidence from pattern_detected message + * + * @return Confidence of detection + */ +static inline float mavlink_msg_pattern_detected_get_confidence(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t))[0]; + r.b[2] = (msg->payload+sizeof(uint8_t))[1]; + r.b[1] = (msg->payload+sizeof(uint8_t))[2]; + r.b[0] = (msg->payload+sizeof(uint8_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field file from pattern_detected message + * + * @return Pattern file name + */ +static inline uint16_t mavlink_msg_pattern_detected_get_file(const mavlink_message_t* msg, int8_t* r_data) +{ + + memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(float), 100); + return 100; +} + +/** + * @brief Get field detected from pattern_detected message + * + * @return Accepted as true detection, 0 no, 1 yes + */ +static inline uint8_t mavlink_msg_pattern_detected_get_detected(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+100)[0]; +} + +/** + * @brief Decode a pattern_detected message into a struct + * + * @param msg The message to decode + * @param pattern_detected C-struct to decode the message contents into + */ +static inline void mavlink_msg_pattern_detected_decode(const mavlink_message_t* msg, mavlink_pattern_detected_t* pattern_detected) +{ + pattern_detected->type = mavlink_msg_pattern_detected_get_type(msg); + pattern_detected->confidence = mavlink_msg_pattern_detected_get_confidence(msg); + mavlink_msg_pattern_detected_get_file(msg, pattern_detected->file); + pattern_detected->detected = mavlink_msg_pattern_detected_get_detected(msg); +}