cbdf462acc
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1494 f9c3cf11-9bcb-44bc-f272-b75c42450872
125 lines
4.5 KiB
C
125 lines
4.5 KiB
C
// MESSAGE ENCAPSULATED_DATA PACKING
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#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 171
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typedef struct __mavlink_encapsulated_data_t
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{
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uint16_t seqnr; ///< sequence number (starting with 0 on every transmission)
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uint8_t data[253]; ///< image data bytes
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} mavlink_encapsulated_data_t;
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#define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253
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/**
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* @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission)
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* @param data image data bytes
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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_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
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i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission)
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i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes
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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 encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission)
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* @param data image data bytes
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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_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
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i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission)
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i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes
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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 encapsulated_data 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 encapsulated_data C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
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{
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return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data);
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}
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/**
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* @brief Send a encapsulated_data message
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* @param chan MAVLink channel to send the message
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*
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* @param seqnr sequence number (starting with 0 on every transmission)
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* @param data image data bytes
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t* data)
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{
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mavlink_message_t msg;
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mavlink_msg_encapsulated_data_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seqnr, data);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE ENCAPSULATED_DATA UNPACKING
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/**
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* @brief Get field seqnr from encapsulated_data message
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*
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* @return sequence number (starting with 0 on every transmission)
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*/
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static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(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)[0];
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r.b[0] = (msg->payload)[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 data from encapsulated_data message
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*
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* @return image data bytes
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*/
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static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t* r_data)
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{
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memcpy(r_data, msg->payload+sizeof(uint16_t), sizeof(uint8_t)*253);
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return sizeof(uint8_t)*253;
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}
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/**
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* @brief Decode a encapsulated_data message into a struct
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*
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* @param msg The message to decode
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* @param encapsulated_data C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data)
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{
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encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg);
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mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data);
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}
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