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