Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
mavlink_msg_point_of_interest.h
00001 // MESSAGE POINT_OF_INTEREST PACKING 00002 00003 #define MAVLINK_MSG_ID_POINT_OF_INTEREST 161 00004 00005 typedef struct __mavlink_point_of_interest_t 00006 { 00007 uint8_t type; ///< 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug 00008 uint8_t color; ///< 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta 00009 uint8_t coordinate_system; ///< 0: global, 1:local 00010 uint16_t timeout; ///< 0: no timeout, >1: timeout in seconds 00011 float x; ///< X Position 00012 float y; ///< Y Position 00013 float z; ///< Z Position 00014 int8_t name[25]; ///< POI name 00015 00016 } mavlink_point_of_interest_t; 00017 00018 #define MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN 25 00019 00020 00021 /** 00022 * @brief Pack a point_of_interest message 00023 * @param system_id ID of this system 00024 * @param component_id ID of this component (e.g. 200 for IMU) 00025 * @param msg The MAVLink message to compress the data into 00026 * 00027 * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug 00028 * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta 00029 * @param coordinate_system 0: global, 1:local 00030 * @param timeout 0: no timeout, >1: timeout in seconds 00031 * @param x X Position 00032 * @param y Y Position 00033 * @param z Z Position 00034 * @param name POI name 00035 * @return length of the message in bytes (excluding serial stream start sign) 00036 */ 00037 static inline uint16_t mavlink_msg_point_of_interest_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const int8_t* name) 00038 { 00039 uint16_t i = 0; 00040 msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST; 00041 00042 i += put_uint8_t_by_index(type, i, msg->payload); // 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug 00043 i += put_uint8_t_by_index(color, i, msg->payload); // 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta 00044 i += put_uint8_t_by_index(coordinate_system, i, msg->payload); // 0: global, 1:local 00045 i += put_uint16_t_by_index(timeout, i, msg->payload); // 0: no timeout, >1: timeout in seconds 00046 i += put_float_by_index(x, i, msg->payload); // X Position 00047 i += put_float_by_index(y, i, msg->payload); // Y Position 00048 i += put_float_by_index(z, i, msg->payload); // Z Position 00049 i += put_array_by_index(name, 25, i, msg->payload); // POI name 00050 00051 return mavlink_finalize_message(msg, system_id, component_id, i); 00052 } 00053 00054 /** 00055 * @brief Pack a point_of_interest message 00056 * @param system_id ID of this system 00057 * @param component_id ID of this component (e.g. 200 for IMU) 00058 * @param chan The MAVLink channel this message was sent over 00059 * @param msg The MAVLink message to compress the data into 00060 * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug 00061 * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta 00062 * @param coordinate_system 0: global, 1:local 00063 * @param timeout 0: no timeout, >1: timeout in seconds 00064 * @param x X Position 00065 * @param y Y Position 00066 * @param z Z Position 00067 * @param name POI name 00068 * @return length of the message in bytes (excluding serial stream start sign) 00069 */ 00070 static inline uint16_t mavlink_msg_point_of_interest_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const int8_t* name) 00071 { 00072 uint16_t i = 0; 00073 msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST; 00074 00075 i += put_uint8_t_by_index(type, i, msg->payload); // 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug 00076 i += put_uint8_t_by_index(color, i, msg->payload); // 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta 00077 i += put_uint8_t_by_index(coordinate_system, i, msg->payload); // 0: global, 1:local 00078 i += put_uint16_t_by_index(timeout, i, msg->payload); // 0: no timeout, >1: timeout in seconds 00079 i += put_float_by_index(x, i, msg->payload); // X Position 00080 i += put_float_by_index(y, i, msg->payload); // Y Position 00081 i += put_float_by_index(z, i, msg->payload); // Z Position 00082 i += put_array_by_index(name, 25, i, msg->payload); // POI name 00083 00084 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); 00085 } 00086 00087 /** 00088 * @brief Encode a point_of_interest struct into a message 00089 * 00090 * @param system_id ID of this system 00091 * @param component_id ID of this component (e.g. 200 for IMU) 00092 * @param msg The MAVLink message to compress the data into 00093 * @param point_of_interest C-struct to read the message contents from 00094 */ 00095 static inline uint16_t mavlink_msg_point_of_interest_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_point_of_interest_t* point_of_interest) 00096 { 00097 return mavlink_msg_point_of_interest_pack(system_id, component_id, msg, point_of_interest->type, point_of_interest->color, point_of_interest->coordinate_system, point_of_interest->timeout, point_of_interest->x, point_of_interest->y, point_of_interest->z, point_of_interest->name); 00098 } 00099 00100 /** 00101 * @brief Send a point_of_interest message 00102 * @param chan MAVLink channel to send the message 00103 * 00104 * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug 00105 * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta 00106 * @param coordinate_system 0: global, 1:local 00107 * @param timeout 0: no timeout, >1: timeout in seconds 00108 * @param x X Position 00109 * @param y Y Position 00110 * @param z Z Position 00111 * @param name POI name 00112 */ 00113 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 00114 00115 static inline void mavlink_msg_point_of_interest_send(mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const int8_t* name) 00116 { 00117 mavlink_message_t msg; 00118 mavlink_msg_point_of_interest_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, color, coordinate_system, timeout, x, y, z, name); 00119 mavlink_send_uart(chan, &msg); 00120 } 00121 00122 #endif 00123 // MESSAGE POINT_OF_INTEREST UNPACKING 00124 00125 /** 00126 * @brief Get field type from point_of_interest message 00127 * 00128 * @return 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug 00129 */ 00130 static inline uint8_t mavlink_msg_point_of_interest_get_type(const mavlink_message_t* msg) 00131 { 00132 return (uint8_t)(msg->payload)[0]; 00133 } 00134 00135 /** 00136 * @brief Get field color from point_of_interest message 00137 * 00138 * @return 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta 00139 */ 00140 static inline uint8_t mavlink_msg_point_of_interest_get_color(const mavlink_message_t* msg) 00141 { 00142 return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; 00143 } 00144 00145 /** 00146 * @brief Get field coordinate_system from point_of_interest message 00147 * 00148 * @return 0: global, 1:local 00149 */ 00150 static inline uint8_t mavlink_msg_point_of_interest_get_coordinate_system(const mavlink_message_t* msg) 00151 { 00152 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; 00153 } 00154 00155 /** 00156 * @brief Get field timeout from point_of_interest message 00157 * 00158 * @return 0: no timeout, >1: timeout in seconds 00159 */ 00160 static inline uint16_t mavlink_msg_point_of_interest_get_timeout(const mavlink_message_t* msg) 00161 { 00162 generic_16bit r; 00163 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; 00164 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; 00165 return (uint16_t)r.s; 00166 } 00167 00168 /** 00169 * @brief Get field x from point_of_interest message 00170 * 00171 * @return X Position 00172 */ 00173 static inline float mavlink_msg_point_of_interest_get_x(const mavlink_message_t* msg) 00174 { 00175 generic_32bit r; 00176 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; 00177 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1]; 00178 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[2]; 00179 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[3]; 00180 return (float)r.f; 00181 } 00182 00183 /** 00184 * @brief Get field y from point_of_interest message 00185 * 00186 * @return Y Position 00187 */ 00188 static inline float mavlink_msg_point_of_interest_get_y(const mavlink_message_t* msg) 00189 { 00190 generic_32bit r; 00191 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[0]; 00192 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[1]; 00193 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[2]; 00194 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float))[3]; 00195 return (float)r.f; 00196 } 00197 00198 /** 00199 * @brief Get field z from point_of_interest message 00200 * 00201 * @return Z Position 00202 */ 00203 static inline float mavlink_msg_point_of_interest_get_z(const mavlink_message_t* msg) 00204 { 00205 generic_32bit r; 00206 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[0]; 00207 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[1]; 00208 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[2]; 00209 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float))[3]; 00210 return (float)r.f; 00211 } 00212 00213 /** 00214 * @brief Get field name from point_of_interest message 00215 * 00216 * @return POI name 00217 */ 00218 static inline uint16_t mavlink_msg_point_of_interest_get_name(const mavlink_message_t* msg, int8_t* r_data) 00219 { 00220 00221 memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(float)+sizeof(float)+sizeof(float), 25); 00222 return 25; 00223 } 00224 00225 /** 00226 * @brief Decode a point_of_interest message into a struct 00227 * 00228 * @param msg The message to decode 00229 * @param point_of_interest C-struct to decode the message contents into 00230 */ 00231 static inline void mavlink_msg_point_of_interest_decode(const mavlink_message_t* msg, mavlink_point_of_interest_t* point_of_interest) 00232 { 00233 point_of_interest->type = mavlink_msg_point_of_interest_get_type(msg); 00234 point_of_interest->color = mavlink_msg_point_of_interest_get_color(msg); 00235 point_of_interest->coordinate_system = mavlink_msg_point_of_interest_get_coordinate_system(msg); 00236 point_of_interest->timeout = mavlink_msg_point_of_interest_get_timeout(msg); 00237 point_of_interest->x = mavlink_msg_point_of_interest_get_x(msg); 00238 point_of_interest->y = mavlink_msg_point_of_interest_get_y(msg); 00239 point_of_interest->z = mavlink_msg_point_of_interest_get_z(msg); 00240 mavlink_msg_point_of_interest_get_name(msg, point_of_interest->name); 00241 }
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