lib/main/MAVLink/common/mavlink_msg_param_value.h

   1 // MESSAGE PARAM_VALUE PACKING
   2
   3 #define MAVLINK_MSG_ID_PARAM_VALUE 22
   4
   5 typedef struct __mavlink_param_value_t
   6 {
   7  float param_value; ///< Onboard parameter value
   8  uint16_t param_count; ///< Total number of onboard parameters
   9  uint16_t param_index; ///< Index of this onboard parameter
  10  char param_id[16]; ///< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
  11  uint8_t param_type; ///< Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
  12 } mavlink_param_value_t;
  13
  14 #define MAVLINK_MSG_ID_PARAM_VALUE_LEN 25
  15 #define MAVLINK_MSG_ID_22_LEN 25
  16
  17 #define MAVLINK_MSG_ID_PARAM_VALUE_CRC 220
  18 #define MAVLINK_MSG_ID_22_CRC 220
  19
  20 #define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16
  21
  22 #define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
  23         "PARAM_VALUE", \
  24         5, \
  25         {  { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \
  26          { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \
  27          { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \
  28          { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \
  29          { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \
  30          } \
  31 }
  32
  33
  34 /**
  35  * @brief Pack a param_value message
  36  * @param system_id ID of this system
  37  * @param component_id ID of this component (e.g. 200 for IMU)
  38  * @param msg The MAVLink message to compress the data into
  39  *
  40  * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
  41  * @param param_value Onboard parameter value
  42  * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
  43  * @param param_count Total number of onboard parameters
  44  * @param param_index Index of this onboard parameter
  45  * @return length of the message in bytes (excluding serial stream start sign)
  46  */
  47 static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  48                                                        const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
  49 {
  50 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  51         char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
  52         _mav_put_float(buf, 0, param_value);
  53         _mav_put_uint16_t(buf, 4, param_count);
  54         _mav_put_uint16_t(buf, 6, param_index);
  55         _mav_put_uint8_t(buf, 24, param_type);
  56         _mav_put_char_array(buf, 8, param_id, 16);
  57         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
  58 #else
  59         mavlink_param_value_t packet;
  60         packet.param_value = param_value;
  61         packet.param_count = param_count;
  62         packet.param_index = param_index;
  63         packet.param_type = param_type;
  64         mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
  65         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
  66 #endif
  67
  68         msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
  69 #if MAVLINK_CRC_EXTRA
  70     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
  71 #else
  72     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
  73 #endif
  74 }
  75
  76 /**
  77  * @brief Pack a param_value message on a channel
  78  * @param system_id ID of this system
  79  * @param component_id ID of this component (e.g. 200 for IMU)
  80  * @param chan The MAVLink channel this message will be sent over
  81  * @param msg The MAVLink message to compress the data into
  82  * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
  83  * @param param_value Onboard parameter value
  84  * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
  85  * @param param_count Total number of onboard parameters
  86  * @param param_index Index of this onboard parameter
  87  * @return length of the message in bytes (excluding serial stream start sign)
  88  */
  89 static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  90                                                            mavlink_message_t* msg,
  91                                                            const char *param_id,float param_value,uint8_t param_type,uint16_t param_count,uint16_t param_index)
  92 {
  93 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  94         char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
  95         _mav_put_float(buf, 0, param_value);
  96         _mav_put_uint16_t(buf, 4, param_count);
  97         _mav_put_uint16_t(buf, 6, param_index);
  98         _mav_put_uint8_t(buf, 24, param_type);
  99         _mav_put_char_array(buf, 8, param_id, 16);
 100         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
 101 #else
 102         mavlink_param_value_t packet;
 103         packet.param_value = param_value;
 104         packet.param_count = param_count;
 105         packet.param_index = param_index;
 106         packet.param_type = param_type;
 107         mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
 108         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
 109 #endif
 110
 111         msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
 112 #if MAVLINK_CRC_EXTRA
 113     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
 114 #else
 115     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
 116 #endif
 117 }
 118
 119 /**
 120  * @brief Encode a param_value struct
 121  *
 122  * @param system_id ID of this system
 123  * @param component_id ID of this component (e.g. 200 for IMU)
 124  * @param msg The MAVLink message to compress the data into
 125  * @param param_value C-struct to read the message contents from
 126  */
 127 static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
 128 {
 129         return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
 130 }
 131
 132 /**
 133  * @brief Encode a param_value struct on a channel
 134  *
 135  * @param system_id ID of this system
 136  * @param component_id ID of this component (e.g. 200 for IMU)
 137  * @param chan The MAVLink channel this message will be sent over
 138  * @param msg The MAVLink message to compress the data into
 139  * @param param_value C-struct to read the message contents from
 140  */
 141 static inline uint16_t mavlink_msg_param_value_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
 142 {
 143         return mavlink_msg_param_value_pack_chan(system_id, component_id, chan, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
 144 }
 145
 146 /**
 147  * @brief Send a param_value message
 148  * @param chan MAVLink channel to send the message
 149  *
 150  * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
 151  * @param param_value Onboard parameter value
 152  * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
 153  * @param param_count Total number of onboard parameters
 154  * @param param_index Index of this onboard parameter
 155  */
 156 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 157
 158 static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
 159 {
 160 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 161         char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
 162         _mav_put_float(buf, 0, param_value);
 163         _mav_put_uint16_t(buf, 4, param_count);
 164         _mav_put_uint16_t(buf, 6, param_index);
 165         _mav_put_uint8_t(buf, 24, param_type);
 166         _mav_put_char_array(buf, 8, param_id, 16);
 167 #if MAVLINK_CRC_EXTRA
 168     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
 169 #else
 170     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
 171 #endif
 172 #else
 173         mavlink_param_value_t packet;
 174         packet.param_value = param_value;
 175         packet.param_count = param_count;
 176         packet.param_index = param_index;
 177         packet.param_type = param_type;
 178         mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
 179 #if MAVLINK_CRC_EXTRA
 180     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
 181 #else
 182     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
 183 #endif
 184 #endif
 185 }
 186
 187 #if MAVLINK_MSG_ID_PARAM_VALUE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 188 /*
 189   This varient of _send() can be used to save stack space by re-using
 190   memory from the receive buffer.  The caller provides a
 191   mavlink_message_t which is the size of a full mavlink message. This
 192   is usually the receive buffer for the channel, and allows a reply to an
 193   incoming message with minimum stack space usage.
 194  */
 195 static inline void mavlink_msg_param_value_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
 196 {
 197 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 198         char *buf = (char *)msgbuf;
 199         _mav_put_float(buf, 0, param_value);
 200         _mav_put_uint16_t(buf, 4, param_count);
 201         _mav_put_uint16_t(buf, 6, param_index);
 202         _mav_put_uint8_t(buf, 24, param_type);
 203         _mav_put_char_array(buf, 8, param_id, 16);
 204 #if MAVLINK_CRC_EXTRA
 205     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
 206 #else
 207     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
 208 #endif
 209 #else
 210         mavlink_param_value_t *packet = (mavlink_param_value_t *)msgbuf;
 211         packet->param_value = param_value;
 212         packet->param_count = param_count;
 213         packet->param_index = param_index;
 214         packet->param_type = param_type;
 215         mav_array_memcpy(packet->param_id, param_id, sizeof(char)*16);
 216 #if MAVLINK_CRC_EXTRA
 217     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
 218 #else
 219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
 220 #endif
 221 #endif
 222 }
 223 #endif
 224
 225 #endif
 226
 227 // MESSAGE PARAM_VALUE UNPACKING
 228
 229
 230 /**
 231  * @brief Get field param_id from param_value message
 232  *
 233  * @return Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
 234  */
 235 static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, char *param_id)
 236 {
 237         return _MAV_RETURN_char_array(msg, param_id, 16,  8);
 238 }
 239
 240 /**
 241  * @brief Get field param_value from param_value message
 242  *
 243  * @return Onboard parameter value
 244  */
 245 static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg)
 246 {
 247         return _MAV_RETURN_float(msg,  0);
 248 }
 249
 250 /**
 251  * @brief Get field param_type from param_value message
 252  *
 253  * @return Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
 254  */
 255 static inline uint8_t mavlink_msg_param_value_get_param_type(const mavlink_message_t* msg)
 256 {
 257         return _MAV_RETURN_uint8_t(msg,  24);
 258 }
 259
 260 /**
 261  * @brief Get field param_count from param_value message
 262  *
 263  * @return Total number of onboard parameters
 264  */
 265 static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg)
 266 {
 267         return _MAV_RETURN_uint16_t(msg,  4);
 268 }
 269
 270 /**
 271  * @brief Get field param_index from param_value message
 272  *
 273  * @return Index of this onboard parameter
 274  */
 275 static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg)
 276 {
 277         return _MAV_RETURN_uint16_t(msg,  6);
 278 }
 279
 280 /**
 281  * @brief Decode a param_value message into a struct
 282  *
 283  * @param msg The message to decode
 284  * @param param_value C-struct to decode the message contents into
 285  */
 286 static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value)
 287 {
 288 #if MAVLINK_NEED_BYTE_SWAP
 289         param_value->param_value = mavlink_msg_param_value_get_param_value(msg);
 290         param_value->param_count = mavlink_msg_param_value_get_param_count(msg);
 291         param_value->param_index = mavlink_msg_param_value_get_param_index(msg);
 292         mavlink_msg_param_value_get_param_id(msg, param_value->param_id);
 293         param_value->param_type = mavlink_msg_param_value_get_param_type(msg);
 294 #else
 295         memcpy(param_value, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PARAM_VALUE_LEN);
 296 #endif
 297 }