ardupilot/libraries/GCS_MAVLink/include/common/mavlink_msg_ping.h

167 lines
7.5 KiB
C

// MESSAGE PING PACKING
#define MAVLINK_MSG_ID_PING 3
typedef struct __mavlink_ping_t
{
uint32_t seq; ///< PING sequence
uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
uint64_t time; ///< Unix timestamp in microseconds
} mavlink_ping_t;
/**
* @brief Pack a ping 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 seq PING sequence
* @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
* @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
* @param time Unix timestamp in microseconds
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_PING;
i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence
i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a ping 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 seq PING sequence
* @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
* @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
* @param time Unix timestamp in microseconds
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_PING;
i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence
i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a ping 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 ping C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
{
return mavlink_msg_ping_pack(system_id, component_id, msg, ping->seq, ping->target_system, ping->target_component, ping->time);
}
/**
* @brief Send a ping message
* @param chan MAVLink channel to send the message
*
* @param seq PING sequence
* @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
* @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
* @param time Unix timestamp in microseconds
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
{
mavlink_message_t msg;
mavlink_msg_ping_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq, target_system, target_component, time);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE PING UNPACKING
/**
* @brief Get field seq from ping message
*
* @return PING sequence
*/
static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (uint32_t)r.i;
}
/**
* @brief Get field target_system from ping message
*
* @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
*/
static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint32_t))[0];
}
/**
* @brief Get field target_component from ping message
*
* @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
*/
static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint8_t))[0];
}
/**
* @brief Get field time from ping message
*
* @return Unix timestamp in microseconds
*/
static inline uint64_t mavlink_msg_ping_get_time(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[6] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
r.b[5] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
r.b[4] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[4];
r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[5];
r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[6];
r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[7];
return (uint64_t)r.ll;
}
/**
* @brief Decode a ping message into a struct
*
* @param msg The message to decode
* @param ping C-struct to decode the message contents into
*/
static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
{
ping->seq = mavlink_msg_ping_get_seq(msg);
ping->target_system = mavlink_msg_ping_get_target_system(msg);
ping->target_component = mavlink_msg_ping_get_target_component(msg);
ping->time = mavlink_msg_ping_get_time(msg);
}