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_change_operator_control.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 CHANGE_OPERATOR_CONTROL PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL 5
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_change_operator_control_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint8_t target_system; ///< System the GCS requests control for
shimniok 0:826c6171fc1b 8 uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:826c6171fc1b 9 uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
shimniok 0:826c6171fc1b 10 char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
shimniok 0:826c6171fc1b 11
shimniok 0:826c6171fc1b 12 } mavlink_change_operator_control_t;
shimniok 0:826c6171fc1b 13
shimniok 0:826c6171fc1b 14 #define MAVLINK_MSG_CHANGE_OPERATOR_CONTROL_FIELD_PASSKEY_LEN 25
shimniok 0:826c6171fc1b 15
shimniok 0:826c6171fc1b 16
shimniok 0:826c6171fc1b 17 /**
shimniok 0:826c6171fc1b 18 * @brief Pack a change_operator_control message
shimniok 0:826c6171fc1b 19 * @param system_id ID of this system
shimniok 0:826c6171fc1b 20 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 21 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 22 *
shimniok 0:826c6171fc1b 23 * @param target_system System the GCS requests control for
shimniok 0:826c6171fc1b 24 * @param control_request 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:826c6171fc1b 25 * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
shimniok 0:826c6171fc1b 26 * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
shimniok 0:826c6171fc1b 27 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 28 */
shimniok 0:826c6171fc1b 29 static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey)
shimniok 0:826c6171fc1b 30 {
shimniok 0:826c6171fc1b 31 uint16_t i = 0;
shimniok 0:826c6171fc1b 32 msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
shimniok 0:826c6171fc1b 33
shimniok 0:826c6171fc1b 34 i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for
shimniok 0:826c6171fc1b 35 i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:826c6171fc1b 36 i += put_uint8_t_by_index(version, i, msg->payload); // 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
shimniok 0:826c6171fc1b 37 i += put_array_by_index((const int8_t*)passkey, sizeof(char)*25, i, msg->payload); // Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
shimniok 0:826c6171fc1b 38
shimniok 0:826c6171fc1b 39 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 40 }
shimniok 0:826c6171fc1b 41
shimniok 0:826c6171fc1b 42 /**
shimniok 0:826c6171fc1b 43 * @brief Pack a change_operator_control message
shimniok 0:826c6171fc1b 44 * @param system_id ID of this system
shimniok 0:826c6171fc1b 45 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 46 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 47 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 48 * @param target_system System the GCS requests control for
shimniok 0:826c6171fc1b 49 * @param control_request 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:826c6171fc1b 50 * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
shimniok 0:826c6171fc1b 51 * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
shimniok 0:826c6171fc1b 52 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 53 */
shimniok 0:826c6171fc1b 54 static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey)
shimniok 0:826c6171fc1b 55 {
shimniok 0:826c6171fc1b 56 uint16_t i = 0;
shimniok 0:826c6171fc1b 57 msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
shimniok 0:826c6171fc1b 58
shimniok 0:826c6171fc1b 59 i += put_uint8_t_by_index(target_system, i, msg->payload); // System the GCS requests control for
shimniok 0:826c6171fc1b 60 i += put_uint8_t_by_index(control_request, i, msg->payload); // 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:826c6171fc1b 61 i += put_uint8_t_by_index(version, i, msg->payload); // 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
shimniok 0:826c6171fc1b 62 i += put_array_by_index((const int8_t*)passkey, sizeof(char)*25, i, msg->payload); // Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
shimniok 0:826c6171fc1b 63
shimniok 0:826c6171fc1b 64 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 65 }
shimniok 0:826c6171fc1b 66
shimniok 0:826c6171fc1b 67 /**
shimniok 0:826c6171fc1b 68 * @brief Encode a change_operator_control struct into a message
shimniok 0:826c6171fc1b 69 *
shimniok 0:826c6171fc1b 70 * @param system_id ID of this system
shimniok 0:826c6171fc1b 71 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 72 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 73 * @param change_operator_control C-struct to read the message contents from
shimniok 0:826c6171fc1b 74 */
shimniok 0:826c6171fc1b 75 static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_t* change_operator_control)
shimniok 0:826c6171fc1b 76 {
shimniok 0:826c6171fc1b 77 return mavlink_msg_change_operator_control_pack(system_id, component_id, msg, change_operator_control->target_system, change_operator_control->control_request, change_operator_control->version, change_operator_control->passkey);
shimniok 0:826c6171fc1b 78 }
shimniok 0:826c6171fc1b 79
shimniok 0:826c6171fc1b 80 /**
shimniok 0:826c6171fc1b 81 * @brief Send a change_operator_control message
shimniok 0:826c6171fc1b 82 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 83 *
shimniok 0:826c6171fc1b 84 * @param target_system System the GCS requests control for
shimniok 0:826c6171fc1b 85 * @param control_request 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:826c6171fc1b 86 * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
shimniok 0:826c6171fc1b 87 * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
shimniok 0:826c6171fc1b 88 */
shimniok 0:826c6171fc1b 89 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 90
shimniok 0:826c6171fc1b 91 static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char* passkey)
shimniok 0:826c6171fc1b 92 {
shimniok 0:826c6171fc1b 93 mavlink_message_t msg;
shimniok 0:826c6171fc1b 94 mavlink_msg_change_operator_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, control_request, version, passkey);
shimniok 0:826c6171fc1b 95 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 96 }
shimniok 0:826c6171fc1b 97
shimniok 0:826c6171fc1b 98 #endif
shimniok 0:826c6171fc1b 99 // MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING
shimniok 0:826c6171fc1b 100
shimniok 0:826c6171fc1b 101 /**
shimniok 0:826c6171fc1b 102 * @brief Get field target_system from change_operator_control message
shimniok 0:826c6171fc1b 103 *
shimniok 0:826c6171fc1b 104 * @return System the GCS requests control for
shimniok 0:826c6171fc1b 105 */
shimniok 0:826c6171fc1b 106 static inline uint8_t mavlink_msg_change_operator_control_get_target_system(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 107 {
shimniok 0:826c6171fc1b 108 return (uint8_t)(msg->payload)[0];
shimniok 0:826c6171fc1b 109 }
shimniok 0:826c6171fc1b 110
shimniok 0:826c6171fc1b 111 /**
shimniok 0:826c6171fc1b 112 * @brief Get field control_request from change_operator_control message
shimniok 0:826c6171fc1b 113 *
shimniok 0:826c6171fc1b 114 * @return 0: request control of this MAV, 1: Release control of this MAV
shimniok 0:826c6171fc1b 115 */
shimniok 0:826c6171fc1b 116 static inline uint8_t mavlink_msg_change_operator_control_get_control_request(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 117 {
shimniok 0:826c6171fc1b 118 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 119 }
shimniok 0:826c6171fc1b 120
shimniok 0:826c6171fc1b 121 /**
shimniok 0:826c6171fc1b 122 * @brief Get field version from change_operator_control message
shimniok 0:826c6171fc1b 123 *
shimniok 0:826c6171fc1b 124 * @return 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
shimniok 0:826c6171fc1b 125 */
shimniok 0:826c6171fc1b 126 static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 127 {
shimniok 0:826c6171fc1b 128 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 129 }
shimniok 0:826c6171fc1b 130
shimniok 0:826c6171fc1b 131 /**
shimniok 0:826c6171fc1b 132 * @brief Get field passkey from change_operator_control message
shimniok 0:826c6171fc1b 133 *
shimniok 0:826c6171fc1b 134 * @return Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
shimniok 0:826c6171fc1b 135 */
shimniok 0:826c6171fc1b 136 static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char* r_data)
shimniok 0:826c6171fc1b 137 {
shimniok 0:826c6171fc1b 138
shimniok 0:826c6171fc1b 139 memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t), sizeof(char)*25);
shimniok 0:826c6171fc1b 140 return sizeof(char)*25;
shimniok 0:826c6171fc1b 141 }
shimniok 0:826c6171fc1b 142
shimniok 0:826c6171fc1b 143 /**
shimniok 0:826c6171fc1b 144 * @brief Decode a change_operator_control message into a struct
shimniok 0:826c6171fc1b 145 *
shimniok 0:826c6171fc1b 146 * @param msg The message to decode
shimniok 0:826c6171fc1b 147 * @param change_operator_control C-struct to decode the message contents into
shimniok 0:826c6171fc1b 148 */
shimniok 0:826c6171fc1b 149 static inline void mavlink_msg_change_operator_control_decode(const mavlink_message_t* msg, mavlink_change_operator_control_t* change_operator_control)
shimniok 0:826c6171fc1b 150 {
shimniok 0:826c6171fc1b 151 change_operator_control->target_system = mavlink_msg_change_operator_control_get_target_system(msg);
shimniok 0:826c6171fc1b 152 change_operator_control->control_request = mavlink_msg_change_operator_control_get_control_request(msg);
shimniok 0:826c6171fc1b 153 change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg);
shimniok 0:826c6171fc1b 154 mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey);
shimniok 0:826c6171fc1b 155 }