a37d1ddb91
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1015 f9c3cf11-9bcb-44bc-f272-b75c42450872
85 lines
2.6 KiB
C
85 lines
2.6 KiB
C
// MESSAGE ACTION_ACK PACKING
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#define MAVLINK_MSG_ID_ACTION_ACK 62
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typedef struct __mavlink_action_ack_t
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{
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uint8_t action; ///< The action id
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uint8_t result; ///< 0: Action DENIED, 1: Action executed
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} mavlink_action_ack_t;
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/**
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* @brief Send a action_ack message
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*
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* @param action The action id
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* @param result 0: Action DENIED, 1: Action executed
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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_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t action, uint8_t result)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
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i += put_uint8_t_by_index(action, i, msg->payload); //The action id
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i += put_uint8_t_by_index(result, i, msg->payload); //0: Action DENIED, 1: Action executed
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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_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t action, uint8_t result)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
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i += put_uint8_t_by_index(action, i, msg->payload); //The action id
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i += put_uint8_t_by_index(result, i, msg->payload); //0: Action DENIED, 1: Action executed
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_ack_t* action_ack)
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{
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return mavlink_msg_action_ack_pack(system_id, component_id, msg, action_ack->action, action_ack->result);
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}
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result)
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{
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mavlink_message_t msg;
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mavlink_msg_action_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, action, result);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE ACTION_ACK UNPACKING
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/**
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* @brief Get field action from action_ack message
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*
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* @return The action id
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*/
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static inline uint8_t mavlink_msg_action_ack_get_action(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 result from action_ack message
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*
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* @return 0: Action DENIED, 1: Action executed
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*/
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static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
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}
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static inline void mavlink_msg_action_ack_decode(const mavlink_message_t* msg, mavlink_action_ack_t* action_ack)
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{
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action_ack->action = mavlink_msg_action_ack_get_action(msg);
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action_ack->result = mavlink_msg_action_ack_get_result(msg);
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}
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