lib/main/MAVLink/common/mavlink_msg_ping.h

   1 // MESSAGE PING PACKING
   2
   3 #define MAVLINK_MSG_ID_PING 4
   4
   5 typedef struct __mavlink_ping_t
   6 {
   7  uint64_t time_usec; ///< Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
   8  uint32_t seq; ///< PING sequence
   9  uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
  10  uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
  11 } mavlink_ping_t;
  12
  13 #define MAVLINK_MSG_ID_PING_LEN 14
  14 #define MAVLINK_MSG_ID_4_LEN 14
  15
  16 #define MAVLINK_MSG_ID_PING_CRC 237
  17 #define MAVLINK_MSG_ID_4_CRC 237
  18
  19
  20
  21 #define MAVLINK_MESSAGE_INFO_PING { \
  22         "PING", \
  23         4, \
  24         {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
  25          { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
  26          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
  27          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
  28          } \
  29 }
  30
  31
  32 /**
  33  * @brief Pack a ping message
  34  * @param system_id ID of this system
  35  * @param component_id ID of this component (e.g. 200 for IMU)
  36  * @param msg The MAVLink message to compress the data into
  37  *
  38  * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
  39  * @param seq PING sequence
  40  * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
  41  * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
  42  * @return length of the message in bytes (excluding serial stream start sign)
  43  */
  44 static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  45                                                        uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
  46 {
  47 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  48         char buf[MAVLINK_MSG_ID_PING_LEN];
  49         _mav_put_uint64_t(buf, 0, time_usec);
  50         _mav_put_uint32_t(buf, 8, seq);
  51         _mav_put_uint8_t(buf, 12, target_system);
  52         _mav_put_uint8_t(buf, 13, target_component);
  53
  54         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
  55 #else
  56         mavlink_ping_t packet;
  57         packet.time_usec = time_usec;
  58         packet.seq = seq;
  59         packet.target_system = target_system;
  60         packet.target_component = target_component;
  61
  62         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
  63 #endif
  64
  65         msg->msgid = MAVLINK_MSG_ID_PING;
  66 #if MAVLINK_CRC_EXTRA
  67     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
  68 #else
  69     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PING_LEN);
  70 #endif
  71 }
  72
  73 /**
  74  * @brief Pack a ping message on a channel
  75  * @param system_id ID of this system
  76  * @param component_id ID of this component (e.g. 200 for IMU)
  77  * @param chan The MAVLink channel this message will be sent over
  78  * @param msg The MAVLink message to compress the data into
  79  * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
  80  * @param seq PING sequence
  81  * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
  82  * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
  83  * @return length of the message in bytes (excluding serial stream start sign)
  84  */
  85 static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  86                                                            mavlink_message_t* msg,
  87                                                            uint64_t time_usec,uint32_t seq,uint8_t target_system,uint8_t target_component)
  88 {
  89 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  90         char buf[MAVLINK_MSG_ID_PING_LEN];
  91         _mav_put_uint64_t(buf, 0, time_usec);
  92         _mav_put_uint32_t(buf, 8, seq);
  93         _mav_put_uint8_t(buf, 12, target_system);
  94         _mav_put_uint8_t(buf, 13, target_component);
  95
  96         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
  97 #else
  98         mavlink_ping_t packet;
  99         packet.time_usec = time_usec;
 100         packet.seq = seq;
 101         packet.target_system = target_system;
 102         packet.target_component = target_component;
 103
 104         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
 105 #endif
 106
 107         msg->msgid = MAVLINK_MSG_ID_PING;
 108 #if MAVLINK_CRC_EXTRA
 109     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
 110 #else
 111     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PING_LEN);
 112 #endif
 113 }
 114
 115 /**
 116  * @brief Encode a ping struct
 117  *
 118  * @param system_id ID of this system
 119  * @param component_id ID of this component (e.g. 200 for IMU)
 120  * @param msg The MAVLink message to compress the data into
 121  * @param ping C-struct to read the message contents from
 122  */
 123 static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
 124 {
 125         return mavlink_msg_ping_pack(system_id, component_id, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
 126 }
 127
 128 /**
 129  * @brief Encode a ping struct on a channel
 130  *
 131  * @param system_id ID of this system
 132  * @param component_id ID of this component (e.g. 200 for IMU)
 133  * @param chan The MAVLink channel this message will be sent over
 134  * @param msg The MAVLink message to compress the data into
 135  * @param ping C-struct to read the message contents from
 136  */
 137 static inline uint16_t mavlink_msg_ping_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ping_t* ping)
 138 {
 139         return mavlink_msg_ping_pack_chan(system_id, component_id, chan, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
 140 }
 141
 142 /**
 143  * @brief Send a ping message
 144  * @param chan MAVLink channel to send the message
 145  *
 146  * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
 147  * @param seq PING sequence
 148  * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
 149  * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
 150  */
 151 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 152
 153 static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
 154 {
 155 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 156         char buf[MAVLINK_MSG_ID_PING_LEN];
 157         _mav_put_uint64_t(buf, 0, time_usec);
 158         _mav_put_uint32_t(buf, 8, seq);
 159         _mav_put_uint8_t(buf, 12, target_system);
 160         _mav_put_uint8_t(buf, 13, target_component);
 161
 162 #if MAVLINK_CRC_EXTRA
 163     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
 164 #else
 165     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN);
 166 #endif
 167 #else
 168         mavlink_ping_t packet;
 169         packet.time_usec = time_usec;
 170         packet.seq = seq;
 171         packet.target_system = target_system;
 172         packet.target_component = target_component;
 173
 174 #if MAVLINK_CRC_EXTRA
 175     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
 176 #else
 177     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, MAVLINK_MSG_ID_PING_LEN);
 178 #endif
 179 #endif
 180 }
 181
 182 #if MAVLINK_MSG_ID_PING_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 183 /*
 184   This varient of _send() can be used to save stack space by re-using
 185   memory from the receive buffer.  The caller provides a
 186   mavlink_message_t which is the size of a full mavlink message. This
 187   is usually the receive buffer for the channel, and allows a reply to an
 188   incoming message with minimum stack space usage.
 189  */
 190 static inline void mavlink_msg_ping_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
 191 {
 192 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 193         char *buf = (char *)msgbuf;
 194         _mav_put_uint64_t(buf, 0, time_usec);
 195         _mav_put_uint32_t(buf, 8, seq);
 196         _mav_put_uint8_t(buf, 12, target_system);
 197         _mav_put_uint8_t(buf, 13, target_component);
 198
 199 #if MAVLINK_CRC_EXTRA
 200     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
 201 #else
 202     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN);
 203 #endif
 204 #else
 205         mavlink_ping_t *packet = (mavlink_ping_t *)msgbuf;
 206         packet->time_usec = time_usec;
 207         packet->seq = seq;
 208         packet->target_system = target_system;
 209         packet->target_component = target_component;
 210
 211 #if MAVLINK_CRC_EXTRA
 212     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)packet, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
 213 #else
 214     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)packet, MAVLINK_MSG_ID_PING_LEN);
 215 #endif
 216 #endif
 217 }
 218 #endif
 219
 220 #endif
 221
 222 // MESSAGE PING UNPACKING
 223
 224
 225 /**
 226  * @brief Get field time_usec from ping message
 227  *
 228  * @return Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
 229  */
 230 static inline uint64_t mavlink_msg_ping_get_time_usec(const mavlink_message_t* msg)
 231 {
 232         return _MAV_RETURN_uint64_t(msg,  0);
 233 }
 234
 235 /**
 236  * @brief Get field seq from ping message
 237  *
 238  * @return PING sequence
 239  */
 240 static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
 241 {
 242         return _MAV_RETURN_uint32_t(msg,  8);
 243 }
 244
 245 /**
 246  * @brief Get field target_system from ping message
 247  *
 248  * @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
 249  */
 250 static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
 251 {
 252         return _MAV_RETURN_uint8_t(msg,  12);
 253 }
 254
 255 /**
 256  * @brief Get field target_component from ping message
 257  *
 258  * @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
 259  */
 260 static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
 261 {
 262         return _MAV_RETURN_uint8_t(msg,  13);
 263 }
 264
 265 /**
 266  * @brief Decode a ping message into a struct
 267  *
 268  * @param msg The message to decode
 269  * @param ping C-struct to decode the message contents into
 270  */
 271 static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
 272 {
 273 #if MAVLINK_NEED_BYTE_SWAP
 274         ping->time_usec = mavlink_msg_ping_get_time_usec(msg);
 275         ping->seq = mavlink_msg_ping_get_seq(msg);
 276         ping->target_system = mavlink_msg_ping_get_target_system(msg);
 277         ping->target_component = mavlink_msg_ping_get_target_component(msg);
 278 #else
 279         memcpy(ping, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PING_LEN);
 280 #endif
 281 }