lib/main/MAVLink/common/mavlink_msg_command_ack.h

   1 // MESSAGE COMMAND_ACK PACKING
   2
   3 #define MAVLINK_MSG_ID_COMMAND_ACK 77
   4
   5 typedef struct __mavlink_command_ack_t
   6 {
   7  uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
   8  uint8_t result; ///< See MAV_RESULT enum
   9 } mavlink_command_ack_t;
  10
  11 #define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3
  12 #define MAVLINK_MSG_ID_77_LEN 3
  13
  14 #define MAVLINK_MSG_ID_COMMAND_ACK_CRC 143
  15 #define MAVLINK_MSG_ID_77_CRC 143
  16
  17
  18
  19 #define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
  20         "COMMAND_ACK", \
  21         2, \
  22         {  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
  23          { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
  24          } \
  25 }
  26
  27
  28 /**
  29  * @brief Pack a command_ack message
  30  * @param system_id ID of this system
  31  * @param component_id ID of this component (e.g. 200 for IMU)
  32  * @param msg The MAVLink message to compress the data into
  33  *
  34  * @param command Command ID, as defined by MAV_CMD enum.
  35  * @param result See MAV_RESULT enum
  36  * @return length of the message in bytes (excluding serial stream start sign)
  37  */
  38 static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  39                                                        uint16_t command, uint8_t result)
  40 {
  41 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  42         char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
  43         _mav_put_uint16_t(buf, 0, command);
  44         _mav_put_uint8_t(buf, 2, result);
  45
  46         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
  47 #else
  48         mavlink_command_ack_t packet;
  49         packet.command = command;
  50         packet.result = result;
  51
  52         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
  53 #endif
  54
  55         msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
  56 #if MAVLINK_CRC_EXTRA
  57     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
  58 #else
  59     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
  60 #endif
  61 }
  62
  63 /**
  64  * @brief Pack a command_ack message on a channel
  65  * @param system_id ID of this system
  66  * @param component_id ID of this component (e.g. 200 for IMU)
  67  * @param chan The MAVLink channel this message will be sent over
  68  * @param msg The MAVLink message to compress the data into
  69  * @param command Command ID, as defined by MAV_CMD enum.
  70  * @param result See MAV_RESULT enum
  71  * @return length of the message in bytes (excluding serial stream start sign)
  72  */
  73 static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  74                                                            mavlink_message_t* msg,
  75                                                            uint16_t command,uint8_t result)
  76 {
  77 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  78         char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
  79         _mav_put_uint16_t(buf, 0, command);
  80         _mav_put_uint8_t(buf, 2, result);
  81
  82         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
  83 #else
  84         mavlink_command_ack_t packet;
  85         packet.command = command;
  86         packet.result = result;
  87
  88         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
  89 #endif
  90
  91         msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
  92 #if MAVLINK_CRC_EXTRA
  93     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
  94 #else
  95     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
  96 #endif
  97 }
  98
  99 /**
 100  * @brief Encode a command_ack struct
 101  *
 102  * @param system_id ID of this system
 103  * @param component_id ID of this component (e.g. 200 for IMU)
 104  * @param msg The MAVLink message to compress the data into
 105  * @param command_ack C-struct to read the message contents from
 106  */
 107 static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
 108 {
 109         return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
 110 }
 111
 112 /**
 113  * @brief Encode a command_ack struct on a channel
 114  *
 115  * @param system_id ID of this system
 116  * @param component_id ID of this component (e.g. 200 for IMU)
 117  * @param chan The MAVLink channel this message will be sent over
 118  * @param msg The MAVLink message to compress the data into
 119  * @param command_ack C-struct to read the message contents from
 120  */
 121 static inline uint16_t mavlink_msg_command_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
 122 {
 123         return mavlink_msg_command_ack_pack_chan(system_id, component_id, chan, msg, command_ack->command, command_ack->result);
 124 }
 125
 126 /**
 127  * @brief Send a command_ack message
 128  * @param chan MAVLink channel to send the message
 129  *
 130  * @param command Command ID, as defined by MAV_CMD enum.
 131  * @param result See MAV_RESULT enum
 132  */
 133 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 134
 135 static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result)
 136 {
 137 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 138         char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
 139         _mav_put_uint16_t(buf, 0, command);
 140         _mav_put_uint8_t(buf, 2, result);
 141
 142 #if MAVLINK_CRC_EXTRA
 143     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
 144 #else
 145     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
 146 #endif
 147 #else
 148         mavlink_command_ack_t packet;
 149         packet.command = command;
 150         packet.result = result;
 151
 152 #if MAVLINK_CRC_EXTRA
 153     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
 154 #else
 155     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
 156 #endif
 157 #endif
 158 }
 159
 160 #if MAVLINK_MSG_ID_COMMAND_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 161 /*
 162   This varient of _send() can be used to save stack space by re-using
 163   memory from the receive buffer.  The caller provides a
 164   mavlink_message_t which is the size of a full mavlink message. This
 165   is usually the receive buffer for the channel, and allows a reply to an
 166   incoming message with minimum stack space usage.
 167  */
 168 static inline void mavlink_msg_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t command, uint8_t result)
 169 {
 170 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 171         char *buf = (char *)msgbuf;
 172         _mav_put_uint16_t(buf, 0, command);
 173         _mav_put_uint8_t(buf, 2, result);
 174
 175 #if MAVLINK_CRC_EXTRA
 176     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
 177 #else
 178     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
 179 #endif
 180 #else
 181         mavlink_command_ack_t *packet = (mavlink_command_ack_t *)msgbuf;
 182         packet->command = command;
 183         packet->result = result;
 184
 185 #if MAVLINK_CRC_EXTRA
 186     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
 187 #else
 188     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
 189 #endif
 190 #endif
 191 }
 192 #endif
 193
 194 #endif
 195
 196 // MESSAGE COMMAND_ACK UNPACKING
 197
 198
 199 /**
 200  * @brief Get field command from command_ack message
 201  *
 202  * @return Command ID, as defined by MAV_CMD enum.
 203  */
 204 static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
 205 {
 206         return _MAV_RETURN_uint16_t(msg,  0);
 207 }
 208
 209 /**
 210  * @brief Get field result from command_ack message
 211  *
 212  * @return See MAV_RESULT enum
 213  */
 214 static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
 215 {
 216         return _MAV_RETURN_uint8_t(msg,  2);
 217 }
 218
 219 /**
 220  * @brief Decode a command_ack message into a struct
 221  *
 222  * @param msg The message to decode
 223  * @param command_ack C-struct to decode the message contents into
 224  */
 225 static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
 226 {
 227 #if MAVLINK_NEED_BYTE_SWAP
 228         command_ack->command = mavlink_msg_command_ack_get_command(msg);
 229         command_ack->result = mavlink_msg_command_ack_get_result(msg);
 230 #else
 231         memcpy(command_ack, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_COMMAND_ACK_LEN);
 232 #endif
 233 }