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

167 lines
4.4 KiB
C

// MESSAGE DEBUG PACKING
#define MAVLINK_MSG_ID_DEBUG 255
typedef struct __mavlink_debug_t
{
uint8_t ind; ///< index of debug variable
float value; ///< DEBUG value
} mavlink_debug_t;
#define MAVLINK_MSG_ID_DEBUG_LEN 5
#define MAVLINK_MSG_ID_255_LEN 5
#define MAVLINK_MESSAGE_INFO_DEBUG { \
"DEBUG", \
2, \
{ { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_debug_t, ind) }, \
{ "value", NULL, MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_debug_t, value) }, \
} \
}
/**
* @brief Pack a debug 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 ind index of debug variable
* @param value DEBUG value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t ind, float value)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint8_t(buf, 0, ind);
_mav_put_float(buf, 1, value);
memcpy(_MAV_PAYLOAD(msg), buf, 5);
#else
mavlink_debug_t packet;
packet.ind = ind;
packet.value = value;
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_DEBUG;
return mavlink_finalize_message(msg, system_id, component_id, 5);
}
/**
* @brief Pack a debug message on a channel
* @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 ind index of debug variable
* @param value DEBUG value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t ind,float value)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint8_t(buf, 0, ind);
_mav_put_float(buf, 1, value);
memcpy(_MAV_PAYLOAD(msg), buf, 5);
#else
mavlink_debug_t packet;
packet.ind = ind;
packet.value = value;
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
#endif
msg->msgid = MAVLINK_MSG_ID_DEBUG;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5);
}
/**
* @brief Encode a debug 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 debug C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
{
return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value);
}
/**
* @brief Send a debug message
* @param chan MAVLink channel to send the message
*
* @param ind index of debug variable
* @param value DEBUG value
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[5];
_mav_put_uint8_t(buf, 0, ind);
_mav_put_float(buf, 1, value);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, 5);
#else
mavlink_debug_t packet;
packet.ind = ind;
packet.value = value;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 5);
#endif
}
#endif
// MESSAGE DEBUG UNPACKING
/**
* @brief Get field ind from debug message
*
* @return index of debug variable
*/
static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field value from debug message
*
* @return DEBUG value
*/
static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 1);
}
/**
* @brief Decode a debug message into a struct
*
* @param msg The message to decode
* @param debug C-struct to decode the message contents into
*/
static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
{
#if MAVLINK_NEED_BYTE_SWAP
debug->ind = mavlink_msg_debug_get_ind(msg);
debug->value = mavlink_msg_debug_get_value(msg);
#else
memcpy(debug, _MAV_PAYLOAD(msg), 5);
#endif
}