mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.5 KiB
C
77 lines
2.5 KiB
C
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// MESSAGE STATUSTEXT PACKING
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#define MAVLINK_MSG_ID_STATUSTEXT 254
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typedef struct __mavlink_statustext_t
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{
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uint8_t severity; ///< Severity of status, 0 = info message, 255 = critical fault
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int8_t text[50]; ///< Status text message, without null termination character
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} mavlink_statustext_t;
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#define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50
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/**
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* @brief Send a statustext message
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*
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* @param severity Severity of status, 0 = info message, 255 = critical fault
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* @param text Status text message, without null termination character
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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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)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
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i += put_uint8_t_by_index(severity, i, msg->payload); //Severity of status, 0 = info message, 255 = critical fault
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i += put_array_by_index(text, 50, i, msg->payload); //Status text message, without null termination character
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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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)
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{
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return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text);
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}
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const int8_t* text)
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{
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mavlink_message_t msg;
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mavlink_msg_statustext_pack(mavlink_system.sysid, mavlink_system.compid, &msg, severity, text);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE STATUSTEXT UNPACKING
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/**
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* @brief Get field severity from statustext message
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*
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* @return Severity of status, 0 = info message, 255 = critical fault
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*/
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static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload)[0];
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}
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/**
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* @brief Get field text from statustext message
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*
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* @return Status text message, without null termination character
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*/
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static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, int8_t* r_data)
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{
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memcpy(r_data, msg->payload+sizeof(uint8_t), 50);
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return 50;
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}
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static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext)
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{
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statustext->severity = mavlink_msg_statustext_get_severity(msg);
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mavlink_msg_statustext_get_text(msg, statustext->text);
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}
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