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/pixhawk/mavlink_msg_pattern_detected.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 PATTERN_DETECTED PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_PATTERN_DETECTED 160
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_pattern_detected_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint8_t type; ///< 0: Pattern, 1: Letter
shimniok 0:826c6171fc1b 8 float confidence; ///< Confidence of detection
shimniok 0:826c6171fc1b 9 int8_t file[100]; ///< Pattern file name
shimniok 0:826c6171fc1b 10 uint8_t detected; ///< Accepted as true detection, 0 no, 1 yes
shimniok 0:826c6171fc1b 11
shimniok 0:826c6171fc1b 12 } mavlink_pattern_detected_t;
shimniok 0:826c6171fc1b 13
shimniok 0:826c6171fc1b 14 #define MAVLINK_MSG_PATTERN_DETECTED_FIELD_FILE_LEN 100
shimniok 0:826c6171fc1b 15
shimniok 0:826c6171fc1b 16
shimniok 0:826c6171fc1b 17 /**
shimniok 0:826c6171fc1b 18 * @brief Pack a pattern_detected 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 type 0: Pattern, 1: Letter
shimniok 0:826c6171fc1b 24 * @param confidence Confidence of detection
shimniok 0:826c6171fc1b 25 * @param file Pattern file name
shimniok 0:826c6171fc1b 26 * @param detected Accepted as true detection, 0 no, 1 yes
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_pattern_detected_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, float confidence, const int8_t* file, uint8_t detected)
shimniok 0:826c6171fc1b 30 {
shimniok 0:826c6171fc1b 31 uint16_t i = 0;
shimniok 0:826c6171fc1b 32 msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED;
shimniok 0:826c6171fc1b 33
shimniok 0:826c6171fc1b 34 i += put_uint8_t_by_index(type, i, msg->payload); // 0: Pattern, 1: Letter
shimniok 0:826c6171fc1b 35 i += put_float_by_index(confidence, i, msg->payload); // Confidence of detection
shimniok 0:826c6171fc1b 36 i += put_array_by_index(file, 100, i, msg->payload); // Pattern file name
shimniok 0:826c6171fc1b 37 i += put_uint8_t_by_index(detected, i, msg->payload); // Accepted as true detection, 0 no, 1 yes
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 pattern_detected 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 type 0: Pattern, 1: Letter
shimniok 0:826c6171fc1b 49 * @param confidence Confidence of detection
shimniok 0:826c6171fc1b 50 * @param file Pattern file name
shimniok 0:826c6171fc1b 51 * @param detected Accepted as true detection, 0 no, 1 yes
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_pattern_detected_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, float confidence, const int8_t* file, uint8_t detected)
shimniok 0:826c6171fc1b 55 {
shimniok 0:826c6171fc1b 56 uint16_t i = 0;
shimniok 0:826c6171fc1b 57 msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED;
shimniok 0:826c6171fc1b 58
shimniok 0:826c6171fc1b 59 i += put_uint8_t_by_index(type, i, msg->payload); // 0: Pattern, 1: Letter
shimniok 0:826c6171fc1b 60 i += put_float_by_index(confidence, i, msg->payload); // Confidence of detection
shimniok 0:826c6171fc1b 61 i += put_array_by_index(file, 100, i, msg->payload); // Pattern file name
shimniok 0:826c6171fc1b 62 i += put_uint8_t_by_index(detected, i, msg->payload); // Accepted as true detection, 0 no, 1 yes
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 pattern_detected 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 pattern_detected C-struct to read the message contents from
shimniok 0:826c6171fc1b 74 */
shimniok 0:826c6171fc1b 75 static inline uint16_t mavlink_msg_pattern_detected_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pattern_detected_t* pattern_detected)
shimniok 0:826c6171fc1b 76 {
shimniok 0:826c6171fc1b 77 return mavlink_msg_pattern_detected_pack(system_id, component_id, msg, pattern_detected->type, pattern_detected->confidence, pattern_detected->file, pattern_detected->detected);
shimniok 0:826c6171fc1b 78 }
shimniok 0:826c6171fc1b 79
shimniok 0:826c6171fc1b 80 /**
shimniok 0:826c6171fc1b 81 * @brief Send a pattern_detected message
shimniok 0:826c6171fc1b 82 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 83 *
shimniok 0:826c6171fc1b 84 * @param type 0: Pattern, 1: Letter
shimniok 0:826c6171fc1b 85 * @param confidence Confidence of detection
shimniok 0:826c6171fc1b 86 * @param file Pattern file name
shimniok 0:826c6171fc1b 87 * @param detected Accepted as true detection, 0 no, 1 yes
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_pattern_detected_send(mavlink_channel_t chan, uint8_t type, float confidence, const int8_t* file, uint8_t detected)
shimniok 0:826c6171fc1b 92 {
shimniok 0:826c6171fc1b 93 mavlink_message_t msg;
shimniok 0:826c6171fc1b 94 mavlink_msg_pattern_detected_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, confidence, file, detected);
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 PATTERN_DETECTED UNPACKING
shimniok 0:826c6171fc1b 100
shimniok 0:826c6171fc1b 101 /**
shimniok 0:826c6171fc1b 102 * @brief Get field type from pattern_detected message
shimniok 0:826c6171fc1b 103 *
shimniok 0:826c6171fc1b 104 * @return 0: Pattern, 1: Letter
shimniok 0:826c6171fc1b 105 */
shimniok 0:826c6171fc1b 106 static inline uint8_t mavlink_msg_pattern_detected_get_type(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 confidence from pattern_detected message
shimniok 0:826c6171fc1b 113 *
shimniok 0:826c6171fc1b 114 * @return Confidence of detection
shimniok 0:826c6171fc1b 115 */
shimniok 0:826c6171fc1b 116 static inline float mavlink_msg_pattern_detected_get_confidence(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 117 {
shimniok 0:826c6171fc1b 118 generic_32bit r;
shimniok 0:826c6171fc1b 119 r.b[3] = (msg->payload+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 120 r.b[2] = (msg->payload+sizeof(uint8_t))[1];
shimniok 0:826c6171fc1b 121 r.b[1] = (msg->payload+sizeof(uint8_t))[2];
shimniok 0:826c6171fc1b 122 r.b[0] = (msg->payload+sizeof(uint8_t))[3];
shimniok 0:826c6171fc1b 123 return (float)r.f;
shimniok 0:826c6171fc1b 124 }
shimniok 0:826c6171fc1b 125
shimniok 0:826c6171fc1b 126 /**
shimniok 0:826c6171fc1b 127 * @brief Get field file from pattern_detected message
shimniok 0:826c6171fc1b 128 *
shimniok 0:826c6171fc1b 129 * @return Pattern file name
shimniok 0:826c6171fc1b 130 */
shimniok 0:826c6171fc1b 131 static inline uint16_t mavlink_msg_pattern_detected_get_file(const mavlink_message_t* msg, int8_t* r_data)
shimniok 0:826c6171fc1b 132 {
shimniok 0:826c6171fc1b 133
shimniok 0:826c6171fc1b 134 memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(float), 100);
shimniok 0:826c6171fc1b 135 return 100;
shimniok 0:826c6171fc1b 136 }
shimniok 0:826c6171fc1b 137
shimniok 0:826c6171fc1b 138 /**
shimniok 0:826c6171fc1b 139 * @brief Get field detected from pattern_detected message
shimniok 0:826c6171fc1b 140 *
shimniok 0:826c6171fc1b 141 * @return Accepted as true detection, 0 no, 1 yes
shimniok 0:826c6171fc1b 142 */
shimniok 0:826c6171fc1b 143 static inline uint8_t mavlink_msg_pattern_detected_get_detected(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 144 {
shimniok 0:826c6171fc1b 145 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+100)[0];
shimniok 0:826c6171fc1b 146 }
shimniok 0:826c6171fc1b 147
shimniok 0:826c6171fc1b 148 /**
shimniok 0:826c6171fc1b 149 * @brief Decode a pattern_detected message into a struct
shimniok 0:826c6171fc1b 150 *
shimniok 0:826c6171fc1b 151 * @param msg The message to decode
shimniok 0:826c6171fc1b 152 * @param pattern_detected C-struct to decode the message contents into
shimniok 0:826c6171fc1b 153 */
shimniok 0:826c6171fc1b 154 static inline void mavlink_msg_pattern_detected_decode(const mavlink_message_t* msg, mavlink_pattern_detected_t* pattern_detected)
shimniok 0:826c6171fc1b 155 {
shimniok 0:826c6171fc1b 156 pattern_detected->type = mavlink_msg_pattern_detected_get_type(msg);
shimniok 0:826c6171fc1b 157 pattern_detected->confidence = mavlink_msg_pattern_detected_get_confidence(msg);
shimniok 0:826c6171fc1b 158 mavlink_msg_pattern_detected_get_file(msg, pattern_detected->file);
shimniok 0:826c6171fc1b 159 pattern_detected->detected = mavlink_msg_pattern_detected_get_detected(msg);
shimniok 0:826c6171fc1b 160 }