pinxian wu / mavlink_bridge

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Dependents:   mavlink F429ZI_LCD_demo

Fork of mavlink_bridge by Benjamin Hepp

mavlink/v10/common/mavlink_msg_encapsulated_data.h@0:28183cc7963f, 2015-11-24 (annotated)

Committer:
bhepp
Date:
Tue Nov 24 16:41:11 2015 +0000
Revision:
0:28183cc7963f
Mavlink bridge for Mbed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bhepp 0:28183cc7963f 1 // MESSAGE ENCAPSULATED_DATA PACKING
bhepp 0:28183cc7963f 2
bhepp 0:28183cc7963f 3 #define MAVLINK_MSG_ID_ENCAPSULATED_DATA 131
bhepp 0:28183cc7963f 4
bhepp 0:28183cc7963f 5 typedef struct __mavlink_encapsulated_data_t
bhepp 0:28183cc7963f 6 {
bhepp 0:28183cc7963f 7 uint16_t seqnr; /*< sequence number (starting with 0 on every transmission)*/
bhepp 0:28183cc7963f 8 uint8_t data[253]; /*< image data bytes*/
bhepp 0:28183cc7963f 9 } mavlink_encapsulated_data_t;
bhepp 0:28183cc7963f 10
bhepp 0:28183cc7963f 11 #define MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN 255
bhepp 0:28183cc7963f 12 #define MAVLINK_MSG_ID_131_LEN 255
bhepp 0:28183cc7963f 13
bhepp 0:28183cc7963f 14 #define MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC 223
bhepp 0:28183cc7963f 15 #define MAVLINK_MSG_ID_131_CRC 223
bhepp 0:28183cc7963f 16
bhepp 0:28183cc7963f 17 #define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253
bhepp 0:28183cc7963f 18
bhepp 0:28183cc7963f 19 #define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
bhepp 0:28183cc7963f 20 "ENCAPSULATED_DATA", \
bhepp 0:28183cc7963f 21 2, \
bhepp 0:28183cc7963f 22 { { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
bhepp 0:28183cc7963f 23 { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
bhepp 0:28183cc7963f 24 } \
bhepp 0:28183cc7963f 25 }
bhepp 0:28183cc7963f 26
bhepp 0:28183cc7963f 27
bhepp 0:28183cc7963f 28 /**
bhepp 0:28183cc7963f 29 * @brief Pack a encapsulated_data message
bhepp 0:28183cc7963f 30 * @param system_id ID of this system
bhepp 0:28183cc7963f 31 * @param component_id ID of this component (e.g. 200 for IMU)
bhepp 0:28183cc7963f 32 * @param msg The MAVLink message to compress the data into
bhepp 0:28183cc7963f 33 *
bhepp 0:28183cc7963f 34 * @param seqnr sequence number (starting with 0 on every transmission)
bhepp 0:28183cc7963f 35 * @param data image data bytes
bhepp 0:28183cc7963f 36 * @return length of the message in bytes (excluding serial stream start sign)
bhepp 0:28183cc7963f 37 */
bhepp 0:28183cc7963f 38 static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
bhepp 0:28183cc7963f 39 uint16_t seqnr, const uint8_t *data)
bhepp 0:28183cc7963f 40 {
bhepp 0:28183cc7963f 41 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
bhepp 0:28183cc7963f 42 char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
bhepp 0:28183cc7963f 43 _mav_put_uint16_t(buf, 0, seqnr);
bhepp 0:28183cc7963f 44 _mav_put_uint8_t_array(buf, 2, data, 253);
bhepp 0:28183cc7963f 45 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
bhepp 0:28183cc7963f 46 #else
bhepp 0:28183cc7963f 47 mavlink_encapsulated_data_t packet;
bhepp 0:28183cc7963f 48 packet.seqnr = seqnr;
bhepp 0:28183cc7963f 49 mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
bhepp 0:28183cc7963f 50 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
bhepp 0:28183cc7963f 51 #endif
bhepp 0:28183cc7963f 52
bhepp 0:28183cc7963f 53 msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
bhepp 0:28183cc7963f 54 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 55 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
bhepp 0:28183cc7963f 56 #else
bhepp 0:28183cc7963f 57 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
bhepp 0:28183cc7963f 58 #endif
bhepp 0:28183cc7963f 59 }
bhepp 0:28183cc7963f 60
bhepp 0:28183cc7963f 61 /**
bhepp 0:28183cc7963f 62 * @brief Pack a encapsulated_data message on a channel
bhepp 0:28183cc7963f 63 * @param system_id ID of this system
bhepp 0:28183cc7963f 64 * @param component_id ID of this component (e.g. 200 for IMU)
bhepp 0:28183cc7963f 65 * @param chan The MAVLink channel this message will be sent over
bhepp 0:28183cc7963f 66 * @param msg The MAVLink message to compress the data into
bhepp 0:28183cc7963f 67 * @param seqnr sequence number (starting with 0 on every transmission)
bhepp 0:28183cc7963f 68 * @param data image data bytes
bhepp 0:28183cc7963f 69 * @return length of the message in bytes (excluding serial stream start sign)
bhepp 0:28183cc7963f 70 */
bhepp 0:28183cc7963f 71 static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
bhepp 0:28183cc7963f 72 mavlink_message_t* msg,
bhepp 0:28183cc7963f 73 uint16_t seqnr,const uint8_t *data)
bhepp 0:28183cc7963f 74 {
bhepp 0:28183cc7963f 75 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
bhepp 0:28183cc7963f 76 char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
bhepp 0:28183cc7963f 77 _mav_put_uint16_t(buf, 0, seqnr);
bhepp 0:28183cc7963f 78 _mav_put_uint8_t_array(buf, 2, data, 253);
bhepp 0:28183cc7963f 79 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
bhepp 0:28183cc7963f 80 #else
bhepp 0:28183cc7963f 81 mavlink_encapsulated_data_t packet;
bhepp 0:28183cc7963f 82 packet.seqnr = seqnr;
bhepp 0:28183cc7963f 83 mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
bhepp 0:28183cc7963f 84 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
bhepp 0:28183cc7963f 85 #endif
bhepp 0:28183cc7963f 86
bhepp 0:28183cc7963f 87 msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
bhepp 0:28183cc7963f 88 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 89 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
bhepp 0:28183cc7963f 90 #else
bhepp 0:28183cc7963f 91 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
bhepp 0:28183cc7963f 92 #endif
bhepp 0:28183cc7963f 93 }
bhepp 0:28183cc7963f 94
bhepp 0:28183cc7963f 95 /**
bhepp 0:28183cc7963f 96 * @brief Encode a encapsulated_data struct
bhepp 0:28183cc7963f 97 *
bhepp 0:28183cc7963f 98 * @param system_id ID of this system
bhepp 0:28183cc7963f 99 * @param component_id ID of this component (e.g. 200 for IMU)
bhepp 0:28183cc7963f 100 * @param msg The MAVLink message to compress the data into
bhepp 0:28183cc7963f 101 * @param encapsulated_data C-struct to read the message contents from
bhepp 0:28183cc7963f 102 */
bhepp 0:28183cc7963f 103 static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
bhepp 0:28183cc7963f 104 {
bhepp 0:28183cc7963f 105 return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data);
bhepp 0:28183cc7963f 106 }
bhepp 0:28183cc7963f 107
bhepp 0:28183cc7963f 108 /**
bhepp 0:28183cc7963f 109 * @brief Encode a encapsulated_data struct on a channel
bhepp 0:28183cc7963f 110 *
bhepp 0:28183cc7963f 111 * @param system_id ID of this system
bhepp 0:28183cc7963f 112 * @param component_id ID of this component (e.g. 200 for IMU)
bhepp 0:28183cc7963f 113 * @param chan The MAVLink channel this message will be sent over
bhepp 0:28183cc7963f 114 * @param msg The MAVLink message to compress the data into
bhepp 0:28183cc7963f 115 * @param encapsulated_data C-struct to read the message contents from
bhepp 0:28183cc7963f 116 */
bhepp 0:28183cc7963f 117 static inline uint16_t mavlink_msg_encapsulated_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
bhepp 0:28183cc7963f 118 {
bhepp 0:28183cc7963f 119 return mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, chan, msg, encapsulated_data->seqnr, encapsulated_data->data);
bhepp 0:28183cc7963f 120 }
bhepp 0:28183cc7963f 121
bhepp 0:28183cc7963f 122 /**
bhepp 0:28183cc7963f 123 * @brief Send a encapsulated_data message
bhepp 0:28183cc7963f 124 * @param chan MAVLink channel to send the message
bhepp 0:28183cc7963f 125 *
bhepp 0:28183cc7963f 126 * @param seqnr sequence number (starting with 0 on every transmission)
bhepp 0:28183cc7963f 127 * @param data image data bytes
bhepp 0:28183cc7963f 128 */
bhepp 0:28183cc7963f 129 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
bhepp 0:28183cc7963f 130
bhepp 0:28183cc7963f 131 static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
bhepp 0:28183cc7963f 132 {
bhepp 0:28183cc7963f 133 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
bhepp 0:28183cc7963f 134 char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
bhepp 0:28183cc7963f 135 _mav_put_uint16_t(buf, 0, seqnr);
bhepp 0:28183cc7963f 136 _mav_put_uint8_t_array(buf, 2, data, 253);
bhepp 0:28183cc7963f 137 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 138 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
bhepp 0:28183cc7963f 139 #else
bhepp 0:28183cc7963f 140 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
bhepp 0:28183cc7963f 141 #endif
bhepp 0:28183cc7963f 142 #else
bhepp 0:28183cc7963f 143 mavlink_encapsulated_data_t packet;
bhepp 0:28183cc7963f 144 packet.seqnr = seqnr;
bhepp 0:28183cc7963f 145 mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
bhepp 0:28183cc7963f 146 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 147 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
bhepp 0:28183cc7963f 148 #else
bhepp 0:28183cc7963f 149 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
bhepp 0:28183cc7963f 150 #endif
bhepp 0:28183cc7963f 151 #endif
bhepp 0:28183cc7963f 152 }
bhepp 0:28183cc7963f 153
bhepp 0:28183cc7963f 154 #if MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
bhepp 0:28183cc7963f 155 /*
bhepp 0:28183cc7963f 156 This varient of _send() can be used to save stack space by re-using
bhepp 0:28183cc7963f 157 memory from the receive buffer. The caller provides a
bhepp 0:28183cc7963f 158 mavlink_message_t which is the size of a full mavlink message. This
bhepp 0:28183cc7963f 159 is usually the receive buffer for the channel, and allows a reply to an
bhepp 0:28183cc7963f 160 incoming message with minimum stack space usage.
bhepp 0:28183cc7963f 161 */
bhepp 0:28183cc7963f 162 static inline void mavlink_msg_encapsulated_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
bhepp 0:28183cc7963f 163 {
bhepp 0:28183cc7963f 164 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
bhepp 0:28183cc7963f 165 char *buf = (char *)msgbuf;
bhepp 0:28183cc7963f 166 _mav_put_uint16_t(buf, 0, seqnr);
bhepp 0:28183cc7963f 167 _mav_put_uint8_t_array(buf, 2, data, 253);
bhepp 0:28183cc7963f 168 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 169 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
bhepp 0:28183cc7963f 170 #else
bhepp 0:28183cc7963f 171 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
bhepp 0:28183cc7963f 172 #endif
bhepp 0:28183cc7963f 173 #else
bhepp 0:28183cc7963f 174 mavlink_encapsulated_data_t *packet = (mavlink_encapsulated_data_t *)msgbuf;
bhepp 0:28183cc7963f 175 packet->seqnr = seqnr;
bhepp 0:28183cc7963f 176 mav_array_memcpy(packet->data, data, sizeof(uint8_t)*253);
bhepp 0:28183cc7963f 177 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 178 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
bhepp 0:28183cc7963f 179 #else
bhepp 0:28183cc7963f 180 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
bhepp 0:28183cc7963f 181 #endif
bhepp 0:28183cc7963f 182 #endif
bhepp 0:28183cc7963f 183 }
bhepp 0:28183cc7963f 184 #endif
bhepp 0:28183cc7963f 185
bhepp 0:28183cc7963f 186 #endif
bhepp 0:28183cc7963f 187
bhepp 0:28183cc7963f 188 // MESSAGE ENCAPSULATED_DATA UNPACKING
bhepp 0:28183cc7963f 189
bhepp 0:28183cc7963f 190
bhepp 0:28183cc7963f 191 /**
bhepp 0:28183cc7963f 192 * @brief Get field seqnr from encapsulated_data message
bhepp 0:28183cc7963f 193 *
bhepp 0:28183cc7963f 194 * @return sequence number (starting with 0 on every transmission)
bhepp 0:28183cc7963f 195 */
bhepp 0:28183cc7963f 196 static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 197 {
bhepp 0:28183cc7963f 198 return _MAV_RETURN_uint16_t(msg, 0);
bhepp 0:28183cc7963f 199 }
bhepp 0:28183cc7963f 200
bhepp 0:28183cc7963f 201 /**
bhepp 0:28183cc7963f 202 * @brief Get field data from encapsulated_data message
bhepp 0:28183cc7963f 203 *
bhepp 0:28183cc7963f 204 * @return image data bytes
bhepp 0:28183cc7963f 205 */
bhepp 0:28183cc7963f 206 static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t *data)
bhepp 0:28183cc7963f 207 {
bhepp 0:28183cc7963f 208 return _MAV_RETURN_uint8_t_array(msg, data, 253, 2);
bhepp 0:28183cc7963f 209 }
bhepp 0:28183cc7963f 210
bhepp 0:28183cc7963f 211 /**
bhepp 0:28183cc7963f 212 * @brief Decode a encapsulated_data message into a struct
bhepp 0:28183cc7963f 213 *
bhepp 0:28183cc7963f 214 * @param msg The message to decode
bhepp 0:28183cc7963f 215 * @param encapsulated_data C-struct to decode the message contents into
bhepp 0:28183cc7963f 216 */
bhepp 0:28183cc7963f 217 static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data)
bhepp 0:28183cc7963f 218 {
bhepp 0:28183cc7963f 219 #if MAVLINK_NEED_BYTE_SWAP
bhepp 0:28183cc7963f 220 encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg);
bhepp 0:28183cc7963f 221 mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data);
bhepp 0:28183cc7963f 222 #else
bhepp 0:28183cc7963f 223 memcpy(encapsulated_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
bhepp 0:28183cc7963f 224 #endif
bhepp 0:28183cc7963f 225 }