mirror of https://github.com/ArduPilot/ardupilot
100 lines
3.3 KiB
C
100 lines
3.3 KiB
C
// MESSAGE ACTION PACKING
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#define MAVLINK_MSG_ID_ACTION 10
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typedef struct __mavlink_action_t
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{
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uint8_t target; ///< The system executing the action
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uint8_t target_component; ///< The component executing the action
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uint8_t action; ///< The action id
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} mavlink_action_t;
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/**
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* @brief Send a action message
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*
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* @param target The system executing the action
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* @param target_component The component executing the action
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* @param action The action id
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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_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_ACTION;
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i += put_uint8_t_by_index(target, i, msg->payload); //The system executing the action
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i += put_uint8_t_by_index(target_component, i, msg->payload); //The component executing the action
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i += put_uint8_t_by_index(action, i, msg->payload); //The action id
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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_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_ACTION;
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i += put_uint8_t_by_index(target, i, msg->payload); //The system executing the action
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i += put_uint8_t_by_index(target_component, i, msg->payload); //The component executing the action
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i += put_uint8_t_by_index(action, i, msg->payload); //The action id
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_t* action)
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{
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return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action);
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}
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action)
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{
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mavlink_message_t msg;
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mavlink_msg_action_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, target_component, action);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE ACTION UNPACKING
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/**
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* @brief Get field target from action message
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*
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* @return The system executing the action
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*/
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static inline uint8_t mavlink_msg_action_get_target(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 target_component from action message
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*
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* @return The component executing the action
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*/
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static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
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}
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/**
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* @brief Get field action from action message
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*
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* @return The action id
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*/
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static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
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}
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static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action)
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{
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action->target = mavlink_msg_action_get_target(msg);
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action->target_component = mavlink_msg_action_get_target_component(msg);
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action->action = mavlink_msg_action_get_action(msg);
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}
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