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_watchdog_process_info.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/pixhawk/mavlink_msg_watchdog_process_info.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_watchdog_process_info.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,186 @@ +// MESSAGE WATCHDOG_PROCESS_INFO PACKING + +#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO 151 + +typedef struct __mavlink_watchdog_process_info_t +{ + uint16_t watchdog_id; ///< Watchdog ID + uint16_t process_id; ///< Process ID + int8_t name[100]; ///< Process name + int8_t arguments[147]; ///< Process arguments + int32_t timeout; ///< Timeout (seconds) + +} mavlink_watchdog_process_info_t; + +#define MAVLINK_MSG_WATCHDOG_PROCESS_INFO_FIELD_NAME_LEN 100 +#define MAVLINK_MSG_WATCHDOG_PROCESS_INFO_FIELD_ARGUMENTS_LEN 147 + + +/** + * @brief Pack a watchdog_process_info 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 watchdog_id Watchdog ID + * @param process_id Process ID + * @param name Process name + * @param arguments Process arguments + * @param timeout Timeout (seconds) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_process_info_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_id, const int8_t* name, const int8_t* arguments, int32_t timeout) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; + + i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID + i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID + i += put_array_by_index(name, 100, i, msg->payload); // Process name + i += put_array_by_index(arguments, 147, i, msg->payload); // Process arguments + i += put_int32_t_by_index(timeout, i, msg->payload); // Timeout (seconds) + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a watchdog_process_info 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 watchdog_id Watchdog ID + * @param process_id Process ID + * @param name Process name + * @param arguments Process arguments + * @param timeout Timeout (seconds) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_process_info_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, const int8_t* name, const int8_t* arguments, int32_t timeout) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO; + + i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID + i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID + i += put_array_by_index(name, 100, i, msg->payload); // Process name + i += put_array_by_index(arguments, 147, i, msg->payload); // Process arguments + i += put_int32_t_by_index(timeout, i, msg->payload); // Timeout (seconds) + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a watchdog_process_info 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 watchdog_process_info C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_watchdog_process_info_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_process_info_t* watchdog_process_info) +{ + return mavlink_msg_watchdog_process_info_pack(system_id, component_id, msg, watchdog_process_info->watchdog_id, watchdog_process_info->process_id, watchdog_process_info->name, watchdog_process_info->arguments, watchdog_process_info->timeout); +} + +/** + * @brief Send a watchdog_process_info message + * @param chan MAVLink channel to send the message + * + * @param watchdog_id Watchdog ID + * @param process_id Process ID + * @param name Process name + * @param arguments Process arguments + * @param timeout Timeout (seconds) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_watchdog_process_info_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, const int8_t* name, const int8_t* arguments, int32_t timeout) +{ + mavlink_message_t msg; + mavlink_msg_watchdog_process_info_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_id, name, arguments, timeout); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE WATCHDOG_PROCESS_INFO UNPACKING + +/** + * @brief Get field watchdog_id from watchdog_process_info message + * + * @return Watchdog ID + */ +static inline uint16_t mavlink_msg_watchdog_process_info_get_watchdog_id(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload)[0]; + r.b[0] = (msg->payload)[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field process_id from watchdog_process_info message + * + * @return Process ID + */ +static inline uint16_t mavlink_msg_watchdog_process_info_get_process_id(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint16_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field name from watchdog_process_info message + * + * @return Process name + */ +static inline uint16_t mavlink_msg_watchdog_process_info_get_name(const mavlink_message_t* msg, int8_t* r_data) +{ + + memcpy(r_data, msg->payload+sizeof(uint16_t)+sizeof(uint16_t), 100); + return 100; +} + +/** + * @brief Get field arguments from watchdog_process_info message + * + * @return Process arguments + */ +static inline uint16_t mavlink_msg_watchdog_process_info_get_arguments(const mavlink_message_t* msg, int8_t* r_data) +{ + + memcpy(r_data, msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100, 147); + return 147; +} + +/** + * @brief Get field timeout from watchdog_process_info message + * + * @return Timeout (seconds) + */ +static inline int32_t mavlink_msg_watchdog_process_info_get_timeout(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[0]; + r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[1]; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[2]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+100+147)[3]; + return (int32_t)r.i; +} + +/** + * @brief Decode a watchdog_process_info message into a struct + * + * @param msg The message to decode + * @param watchdog_process_info C-struct to decode the message contents into + */ +static inline void mavlink_msg_watchdog_process_info_decode(const mavlink_message_t* msg, mavlink_watchdog_process_info_t* watchdog_process_info) +{ + watchdog_process_info->watchdog_id = mavlink_msg_watchdog_process_info_get_watchdog_id(msg); + watchdog_process_info->process_id = mavlink_msg_watchdog_process_info_get_process_id(msg); + mavlink_msg_watchdog_process_info_get_name(msg, watchdog_process_info->name); + mavlink_msg_watchdog_process_info_get_arguments(msg, watchdog_process_info->arguments); + watchdog_process_info->timeout = mavlink_msg_watchdog_process_info_get_timeout(msg); +}