Diff: MAVlink/include/common/mavlink_msg_action.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_action.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,135 @@
+// MESSAGE ACTION PACKING
+
+#define MAVLINK_MSG_ID_ACTION 10
+
+typedef struct __mavlink_action_t 
+{
+	uint8_t target; ///< The system executing the action
+	uint8_t target_component; ///< The component executing the action
+	uint8_t action; ///< The action id
+
+} mavlink_action_t;
+
+
+
+/**
+ * @brief Pack a action 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 target The system executing the action
+ * @param target_component The component executing the action
+ * @param action The action id
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+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)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ACTION;
+
+	i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action
+	i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action
+	i += put_uint8_t_by_index(action, i, msg->payload); // The action id
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a action 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 target The system executing the action
+ * @param target_component The component executing the action
+ * @param action The action id
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+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)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ACTION;
+
+	i += put_uint8_t_by_index(target, i, msg->payload); // The system executing the action
+	i += put_uint8_t_by_index(target_component, i, msg->payload); // The component executing the action
+	i += put_uint8_t_by_index(action, i, msg->payload); // The action id
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a action 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 C-struct to read the message contents from
+ */
+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)
+{
+	return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action);
+}
+
+/**
+ * @brief Send a action message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target The system executing the action
+ * @param target_component The component executing the action
+ * @param action The action id
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action)
+{
+	mavlink_message_t msg;
+	mavlink_msg_action_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, target_component, action);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE ACTION UNPACKING
+
+/**
+ * @brief Get field target from action message
+ *
+ * @return The system executing the action
+ */
+static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field target_component from action message
+ *
+ * @return The component executing the action
+ */
+static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field action from action message
+ *
+ * @return The action id
+ */
+static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Decode a action message into a struct
+ *
+ * @param msg The message to decode
+ * @param action C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action)
+{
+	action->target = mavlink_msg_action_get_target(msg);
+	action->target_component = mavlink_msg_action_get_target_component(msg);
+	action->action = mavlink_msg_action_get_action(msg);
+}