Diff: MAVlink/include/pixhawk/mavlink_msg_marker.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/pixhawk/mavlink_msg_marker.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,236 @@
+// MESSAGE MARKER PACKING
+
+#define MAVLINK_MSG_ID_MARKER 130
+
+typedef struct __mavlink_marker_t 
+{
+	uint16_t id; ///< ID
+	float x; ///< x position
+	float y; ///< y position
+	float z; ///< z position
+	float roll; ///< roll orientation
+	float pitch; ///< pitch orientation
+	float yaw; ///< yaw orientation
+
+} mavlink_marker_t;
+
+
+
+/**
+ * @brief Pack a marker 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 id ID
+ * @param x x position
+ * @param y y position
+ * @param z z position
+ * @param roll roll orientation
+ * @param pitch pitch orientation
+ * @param yaw yaw orientation
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_marker_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_MARKER;
+
+	i += put_uint16_t_by_index(id, i, msg->payload); // ID
+	i += put_float_by_index(x, i, msg->payload); // x position
+	i += put_float_by_index(y, i, msg->payload); // y position
+	i += put_float_by_index(z, i, msg->payload); // z position
+	i += put_float_by_index(roll, i, msg->payload); // roll orientation
+	i += put_float_by_index(pitch, i, msg->payload); // pitch orientation
+	i += put_float_by_index(yaw, i, msg->payload); // yaw orientation
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a marker 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 id ID
+ * @param x x position
+ * @param y y position
+ * @param z z position
+ * @param roll roll orientation
+ * @param pitch pitch orientation
+ * @param yaw yaw orientation
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_marker_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_MARKER;
+
+	i += put_uint16_t_by_index(id, i, msg->payload); // ID
+	i += put_float_by_index(x, i, msg->payload); // x position
+	i += put_float_by_index(y, i, msg->payload); // y position
+	i += put_float_by_index(z, i, msg->payload); // z position
+	i += put_float_by_index(roll, i, msg->payload); // roll orientation
+	i += put_float_by_index(pitch, i, msg->payload); // pitch orientation
+	i += put_float_by_index(yaw, i, msg->payload); // yaw orientation
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a marker 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 marker C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_marker_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_marker_t* marker)
+{
+	return mavlink_msg_marker_pack(system_id, component_id, msg, marker->id, marker->x, marker->y, marker->z, marker->roll, marker->pitch, marker->yaw);
+}
+
+/**
+ * @brief Send a marker message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param id ID
+ * @param x x position
+ * @param y y position
+ * @param z z position
+ * @param roll roll orientation
+ * @param pitch pitch orientation
+ * @param yaw yaw orientation
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_marker_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
+{
+	mavlink_message_t msg;
+	mavlink_msg_marker_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, id, x, y, z, roll, pitch, yaw);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE MARKER UNPACKING
+
+/**
+ * @brief Get field id from marker message
+ *
+ * @return ID
+ */
+static inline uint16_t mavlink_msg_marker_get_id(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload)[0];
+	r.b[0] = (msg->payload)[1];
+	return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field x from marker message
+ *
+ * @return x position
+ */
+static inline float mavlink_msg_marker_get_x(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint16_t))[0];
+	r.b[2] = (msg->payload+sizeof(uint16_t))[1];
+	r.b[1] = (msg->payload+sizeof(uint16_t))[2];
+	r.b[0] = (msg->payload+sizeof(uint16_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field y from marker message
+ *
+ * @return y position
+ */
+static inline float mavlink_msg_marker_get_y(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field z from marker message
+ *
+ * @return z position
+ */
+static inline float mavlink_msg_marker_get_z(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field roll from marker message
+ *
+ * @return roll orientation
+ */
+static inline float mavlink_msg_marker_get_roll(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field pitch from marker message
+ *
+ * @return pitch orientation
+ */
+static inline float mavlink_msg_marker_get_pitch(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field yaw from marker message
+ *
+ * @return yaw orientation
+ */
+static inline float mavlink_msg_marker_get_yaw(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Decode a marker message into a struct
+ *
+ * @param msg The message to decode
+ * @param marker C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_marker_decode(const mavlink_message_t* msg, mavlink_marker_t* marker)
+{
+	marker->id = mavlink_msg_marker_get_id(msg);
+	marker->x = mavlink_msg_marker_get_x(msg);
+	marker->y = mavlink_msg_marker_get_y(msg);
+	marker->z = mavlink_msg_marker_get_z(msg);
+	marker->roll = mavlink_msg_marker_get_roll(msg);
+	marker->pitch = mavlink_msg_marker_get_pitch(msg);
+	marker->yaw = mavlink_msg_marker_get_yaw(msg);
+}