Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

MAVlink/include/common/mavlink_msg_action.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 // MESSAGE ACTION PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_ACTION 10
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_action_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint8_t target; ///< The system executing the action
shimniok 0:826c6171fc1b 8 uint8_t target_component; ///< The component executing the action
shimniok 0:826c6171fc1b 9 uint8_t action; ///< The action id
shimniok 0:826c6171fc1b 10
shimniok 0:826c6171fc1b 11 } mavlink_action_t;
shimniok 0:826c6171fc1b 12
shimniok 0:826c6171fc1b 13
shimniok 0:826c6171fc1b 14
shimniok 0:826c6171fc1b 15 /**
shimniok 0:826c6171fc1b 16 * @brief Pack a action message
shimniok 0:826c6171fc1b 17 * @param system_id ID of this system
shimniok 0:826c6171fc1b 18 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 19 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 20 *
shimniok 0:826c6171fc1b 21 * @param target The system executing the action
shimniok 0:826c6171fc1b 22 * @param target_component The component executing the action
shimniok 0:826c6171fc1b 23 * @param action The action id
shimniok 0:826c6171fc1b 24 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 25 */
shimniok 0:826c6171fc1b 26 static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action)
shimniok 0:826c6171fc1b 27 {
shimniok 0:826c6171fc1b 28 uint16_t i = 0;
shimniok 0:826c6171fc1b 29 msg->msgid = MAVLINK_MSG_ID_ACTION;
shimniok 0:826c6171fc1b 30
shimniok 0:826c6171fc1b 31 i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action
shimniok 0:826c6171fc1b 32 i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action
shimniok 0:826c6171fc1b 33 i += put_uint8_t_by_index(action, i, msg->payload); // The action id
shimniok 0:826c6171fc1b 34
shimniok 0:826c6171fc1b 35 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 36 }
shimniok 0:826c6171fc1b 37
shimniok 0:826c6171fc1b 38 /**
shimniok 0:826c6171fc1b 39 * @brief Pack a action message
shimniok 0:826c6171fc1b 40 * @param system_id ID of this system
shimniok 0:826c6171fc1b 41 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 42 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 43 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 44 * @param target The system executing the action
shimniok 0:826c6171fc1b 45 * @param target_component The component executing the action
shimniok 0:826c6171fc1b 46 * @param action The action id
shimniok 0:826c6171fc1b 47 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 48 */
shimniok 0:826c6171fc1b 49 static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t target_component, uint8_t action)
shimniok 0:826c6171fc1b 50 {
shimniok 0:826c6171fc1b 51 uint16_t i = 0;
shimniok 0:826c6171fc1b 52 msg->msgid = MAVLINK_MSG_ID_ACTION;
shimniok 0:826c6171fc1b 53
shimniok 0:826c6171fc1b 54 i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action
shimniok 0:826c6171fc1b 55 i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action
shimniok 0:826c6171fc1b 56 i += put_uint8_t_by_index(action, i, msg->payload); // The action id
shimniok 0:826c6171fc1b 57
shimniok 0:826c6171fc1b 58 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 59 }
shimniok 0:826c6171fc1b 60
shimniok 0:826c6171fc1b 61 /**
shimniok 0:826c6171fc1b 62 * @brief Encode a action struct into a message
shimniok 0:826c6171fc1b 63 *
shimniok 0:826c6171fc1b 64 * @param system_id ID of this system
shimniok 0:826c6171fc1b 65 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 66 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 67 * @param action C-struct to read the message contents from
shimniok 0:826c6171fc1b 68 */
shimniok 0:826c6171fc1b 69 static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_t* action)
shimniok 0:826c6171fc1b 70 {
shimniok 0:826c6171fc1b 71 return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action);
shimniok 0:826c6171fc1b 72 }
shimniok 0:826c6171fc1b 73
shimniok 0:826c6171fc1b 74 /**
shimniok 0:826c6171fc1b 75 * @brief Send a action message
shimniok 0:826c6171fc1b 76 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 77 *
shimniok 0:826c6171fc1b 78 * @param target The system executing the action
shimniok 0:826c6171fc1b 79 * @param target_component The component executing the action
shimniok 0:826c6171fc1b 80 * @param action The action id
shimniok 0:826c6171fc1b 81 */
shimniok 0:826c6171fc1b 82 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 83
shimniok 0:826c6171fc1b 84 static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action)
shimniok 0:826c6171fc1b 85 {
shimniok 0:826c6171fc1b 86 mavlink_message_t msg;
shimniok 0:826c6171fc1b 87 mavlink_msg_action_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, target_component, action);
shimniok 0:826c6171fc1b 88 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 89 }
shimniok 0:826c6171fc1b 90
shimniok 0:826c6171fc1b 91 #endif
shimniok 0:826c6171fc1b 92 // MESSAGE ACTION UNPACKING
shimniok 0:826c6171fc1b 93
shimniok 0:826c6171fc1b 94 /**
shimniok 0:826c6171fc1b 95 * @brief Get field target from action message
shimniok 0:826c6171fc1b 96 *
shimniok 0:826c6171fc1b 97 * @return The system executing the action
shimniok 0:826c6171fc1b 98 */
shimniok 0:826c6171fc1b 99 static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 100 {
shimniok 0:826c6171fc1b 101 return (uint8_t)(msg->payload)[0];
shimniok 0:826c6171fc1b 102 }
shimniok 0:826c6171fc1b 103
shimniok 0:826c6171fc1b 104 /**
shimniok 0:826c6171fc1b 105 * @brief Get field target_component from action message
shimniok 0:826c6171fc1b 106 *
shimniok 0:826c6171fc1b 107 * @return The component executing the action
shimniok 0:826c6171fc1b 108 */
shimniok 0:826c6171fc1b 109 static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 110 {
shimniok 0:826c6171fc1b 111 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 112 }
shimniok 0:826c6171fc1b 113
shimniok 0:826c6171fc1b 114 /**
shimniok 0:826c6171fc1b 115 * @brief Get field action from action message
shimniok 0:826c6171fc1b 116 *
shimniok 0:826c6171fc1b 117 * @return The action id
shimniok 0:826c6171fc1b 118 */
shimniok 0:826c6171fc1b 119 static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 120 {
shimniok 0:826c6171fc1b 121 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 122 }
shimniok 0:826c6171fc1b 123
shimniok 0:826c6171fc1b 124 /**
shimniok 0:826c6171fc1b 125 * @brief Decode a action message into a struct
shimniok 0:826c6171fc1b 126 *
shimniok 0:826c6171fc1b 127 * @param msg The message to decode
shimniok 0:826c6171fc1b 128 * @param action C-struct to decode the message contents into
shimniok 0:826c6171fc1b 129 */
shimniok 0:826c6171fc1b 130 static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action)
shimniok 0:826c6171fc1b 131 {
shimniok 0:826c6171fc1b 132 action->target = mavlink_msg_action_get_target(msg);
shimniok 0:826c6171fc1b 133 action->target_component = mavlink_msg_action_get_target_component(msg);
shimniok 0:826c6171fc1b 134 action->action = mavlink_msg_action_get_action(msg);
shimniok 0:826c6171fc1b 135 }