42caba7d8e
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1777 f9c3cf11-9bcb-44bc-f272-b75c42450872
250 lines
9.8 KiB
C
250 lines
9.8 KiB
C
// MESSAGE BRIEF_FEATURE PACKING
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#define MAVLINK_MSG_ID_BRIEF_FEATURE 172
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typedef struct __mavlink_brief_feature_t
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{
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float x; ///< x position in m
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float y; ///< y position in m
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float z; ///< z position in m
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uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true
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uint16_t size; ///< Size in pixels
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uint16_t orientation; ///< Orientation
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uint8_t descriptor[32]; ///< Descriptor
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float response; ///< Harris operator response at this location
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} mavlink_brief_feature_t;
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#define MAVLINK_MSG_BRIEF_FEATURE_FIELD_DESCRIPTOR_LEN 32
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/**
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* @brief Pack a brief_feature message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param x x position in m
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* @param y y position in m
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* @param z z position in m
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* @param orientation_assignment Orientation assignment 0: false, 1:true
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* @param size Size in pixels
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* @param orientation Orientation
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* @param descriptor Descriptor
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* @param response Harris operator response at this location
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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_brief_feature_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
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i += put_float_by_index(x, i, msg->payload); // x position in m
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i += put_float_by_index(y, i, msg->payload); // y position in m
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i += put_float_by_index(z, i, msg->payload); // z position in m
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i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true
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i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels
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i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation
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i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor
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i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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/**
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* @brief Pack a brief_feature message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param x x position in m
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* @param y y position in m
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* @param z z position in m
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* @param orientation_assignment Orientation assignment 0: false, 1:true
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* @param size Size in pixels
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* @param orientation Orientation
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* @param descriptor Descriptor
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* @param response Harris operator response at this location
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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_brief_feature_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
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i += put_float_by_index(x, i, msg->payload); // x position in m
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i += put_float_by_index(y, i, msg->payload); // y position in m
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i += put_float_by_index(z, i, msg->payload); // z position in m
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i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true
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i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels
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i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation
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i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor
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i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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/**
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* @brief Encode a brief_feature struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param brief_feature C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_brief_feature_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_brief_feature_t* brief_feature)
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{
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return mavlink_msg_brief_feature_pack(system_id, component_id, msg, brief_feature->x, brief_feature->y, brief_feature->z, brief_feature->orientation_assignment, brief_feature->size, brief_feature->orientation, brief_feature->descriptor, brief_feature->response);
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}
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/**
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* @brief Send a brief_feature message
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* @param chan MAVLink channel to send the message
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*
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* @param x x position in m
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* @param y y position in m
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* @param z z position in m
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* @param orientation_assignment Orientation assignment 0: false, 1:true
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* @param size Size in pixels
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* @param orientation Orientation
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* @param descriptor Descriptor
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* @param response Harris operator response at this location
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
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{
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mavlink_message_t msg;
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mavlink_msg_brief_feature_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, orientation_assignment, size, orientation, descriptor, response);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE BRIEF_FEATURE UNPACKING
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/**
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* @brief Get field x from brief_feature message
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*
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* @return x position in m
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*/
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static inline float mavlink_msg_brief_feature_get_x(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload)[0];
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r.b[2] = (msg->payload)[1];
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r.b[1] = (msg->payload)[2];
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r.b[0] = (msg->payload)[3];
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return (float)r.f;
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}
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/**
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* @brief Get field y from brief_feature message
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*
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* @return y position in m
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*/
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static inline float mavlink_msg_brief_feature_get_y(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field z from brief_feature message
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*
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* @return z position in m
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*/
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static inline float mavlink_msg_brief_feature_get_z(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field orientation_assignment from brief_feature message
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*
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* @return Orientation assignment 0: false, 1:true
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*/
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static inline uint8_t mavlink_msg_brief_feature_get_orientation_assignment(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
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}
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/**
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* @brief Get field size from brief_feature message
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*
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* @return Size in pixels
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*/
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static inline uint16_t mavlink_msg_brief_feature_get_size(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field orientation from brief_feature message
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*
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* @return Orientation
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*/
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static inline uint16_t mavlink_msg_brief_feature_get_orientation(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field descriptor from brief_feature message
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*
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* @return Descriptor
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*/
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static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_message_t* msg, uint8_t* r_data)
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{
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memcpy(r_data, msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t), sizeof(uint8_t)*32);
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return sizeof(uint8_t)*32;
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}
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/**
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* @brief Get field response from brief_feature message
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*
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* @return Harris operator response at this location
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*/
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static inline float mavlink_msg_brief_feature_get_response(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[0];
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r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[1];
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[2];
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[3];
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return (float)r.f;
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}
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/**
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* @brief Decode a brief_feature message into a struct
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*
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* @param msg The message to decode
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* @param brief_feature C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_brief_feature_decode(const mavlink_message_t* msg, mavlink_brief_feature_t* brief_feature)
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{
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brief_feature->x = mavlink_msg_brief_feature_get_x(msg);
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brief_feature->y = mavlink_msg_brief_feature_get_y(msg);
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brief_feature->z = mavlink_msg_brief_feature_get_z(msg);
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brief_feature->orientation_assignment = mavlink_msg_brief_feature_get_orientation_assignment(msg);
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brief_feature->size = mavlink_msg_brief_feature_get_size(msg);
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brief_feature->orientation = mavlink_msg_brief_feature_get_orientation(msg);
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mavlink_msg_brief_feature_get_descriptor(msg, brief_feature->descriptor);
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brief_feature->response = mavlink_msg_brief_feature_get_response(msg);
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}
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