dbdabd8707
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1616 f9c3cf11-9bcb-44bc-f272-b75c42450872
119 lines
3.8 KiB
C
119 lines
3.8 KiB
C
// MESSAGE ACTION_ACK PACKING
|
|
|
|
#define MAVLINK_MSG_ID_ACTION_ACK 9
|
|
|
|
typedef struct __mavlink_action_ack_t
|
|
{
|
|
uint8_t action; ///< The action id
|
|
uint8_t result; ///< 0: Action DENIED, 1: Action executed
|
|
|
|
} mavlink_action_ack_t;
|
|
|
|
|
|
|
|
/**
|
|
* @brief Pack a action_ack 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 action The action id
|
|
* @param result 0: Action DENIED, 1: Action executed
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
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)
|
|
{
|
|
uint16_t i = 0;
|
|
msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
|
|
|
|
i += put_uint8_t_by_index(action, i, msg->payload); // The action id
|
|
i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed
|
|
|
|
return mavlink_finalize_message(msg, system_id, component_id, i);
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a action_ack message
|
|
* @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 action The action id
|
|
* @param result 0: Action DENIED, 1: Action executed
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
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)
|
|
{
|
|
uint16_t i = 0;
|
|
msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
|
|
|
|
i += put_uint8_t_by_index(action, i, msg->payload); // The action id
|
|
i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed
|
|
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a action_ack 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 action_ack C-struct to read the message contents from
|
|
*/
|
|
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)
|
|
{
|
|
return mavlink_msg_action_ack_pack(system_id, component_id, msg, action_ack->action, action_ack->result);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a action_ack message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param action The action id
|
|
* @param result 0: Action DENIED, 1: Action executed
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result)
|
|
{
|
|
mavlink_message_t msg;
|
|
mavlink_msg_action_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, action, result);
|
|
mavlink_send_uart(chan, &msg);
|
|
}
|
|
|
|
#endif
|
|
// MESSAGE ACTION_ACK UNPACKING
|
|
|
|
/**
|
|
* @brief Get field action from action_ack message
|
|
*
|
|
* @return The action id
|
|
*/
|
|
static inline uint8_t mavlink_msg_action_ack_get_action(const mavlink_message_t* msg)
|
|
{
|
|
return (uint8_t)(msg->payload)[0];
|
|
}
|
|
|
|
/**
|
|
* @brief Get field result from action_ack message
|
|
*
|
|
* @return 0: Action DENIED, 1: Action executed
|
|
*/
|
|
static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t* msg)
|
|
{
|
|
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a action_ack message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param action_ack C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_action_ack_decode(const mavlink_message_t* msg, mavlink_action_ack_t* action_ack)
|
|
{
|
|
action_ack->action = mavlink_msg_action_ack_get_action(msg);
|
|
action_ack->result = mavlink_msg_action_ack_get_result(msg);
|
|
}
|