cbdf462acc
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1494 f9c3cf11-9bcb-44bc-f272-b75c42450872
77 lines
2.6 KiB
C
77 lines
2.6 KiB
C
// MESSAGE ENCAPSULATED_IMAGE PACKING
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#define MAVLINK_MSG_ID_ENCAPSULATED_IMAGE 171
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typedef struct __mavlink_encapsulated_image_t
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{
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uint8_t seqnr; ///< sequence number (starting with 0 on every transmission)
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uint8_t data[254]; ///< image data bytes
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} mavlink_encapsulated_image_t;
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#define MAVLINK_MSG_ENCAPSULATED_IMAGE_FIELD_DATA_LEN 254
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/**
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* @brief Send a encapsulated_image 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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* @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_image_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_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_IMAGE;
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i += put_uint8_t_by_index(seqnr, i, msg->payload); //sequence number (starting with 0 on every transmission)
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i += put_array_by_index((int8_t*)data, sizeof(uint8_t)*254, 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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static inline uint16_t mavlink_msg_encapsulated_image_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_image_t* encapsulated_image)
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{
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return mavlink_msg_encapsulated_image_pack(system_id, component_id, msg, encapsulated_image->seqnr, encapsulated_image->data);
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}
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_encapsulated_image_send(mavlink_channel_t chan, uint8_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_image_pack(mavlink_system.sysid, mavlink_system.compid, &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_IMAGE UNPACKING
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/**
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* @brief Get field seqnr from encapsulated_image 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 uint8_t mavlink_msg_encapsulated_image_get_seqnr(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 data from encapsulated_image 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_image_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(uint8_t), sizeof(uint8_t)*254);
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return sizeof(uint8_t)*254;
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}
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static inline void mavlink_msg_encapsulated_image_decode(const mavlink_message_t* msg, mavlink_encapsulated_image_t* encapsulated_image)
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{
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encapsulated_image->seqnr = mavlink_msg_encapsulated_image_get_seqnr(msg);
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mavlink_msg_encapsulated_image_get_data(msg, encapsulated_image->data);
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}
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