lib/main/MAVLink/common/mavlink_msg_command_ack.h

   1 #pragma once
   2 // MESSAGE COMMAND_ACK PACKING
   3
   4 #define MAVLINK_MSG_ID_COMMAND_ACK 77
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_command_ack_t {
   8  uint16_t command; /*< Command ID, as defined by MAV_CMD enum.*/
   9  uint8_t result; /*< See MAV_RESULT enum*/
  10 }) mavlink_command_ack_t;
  11
  12 #define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3
  13 #define MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN 3
  14 #define MAVLINK_MSG_ID_77_LEN 3
  15 #define MAVLINK_MSG_ID_77_MIN_LEN 3
  16
  17 #define MAVLINK_MSG_ID_COMMAND_ACK_CRC 143
  18 #define MAVLINK_MSG_ID_77_CRC 143
  19
  20
  21
  22 #if MAVLINK_COMMAND_24BIT
  23 #define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
  24     77, \
  25     "COMMAND_ACK", \
  26     2, \
  27     {  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
  28          { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
  29          } \
  30 }
  31 #else
  32 #define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
  33     "COMMAND_ACK", \
  34     2, \
  35     {  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
  36          { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
  37          } \
  38 }
  39 #endif
  40
  41 /**
  42  * @brief Pack a command_ack message
  43  * @param system_id ID of this system
  44  * @param component_id ID of this component (e.g. 200 for IMU)
  45  * @param msg The MAVLink message to compress the data into
  46  *
  47  * @param command Command ID, as defined by MAV_CMD enum.
  48  * @param result See MAV_RESULT enum
  49  * @return length of the message in bytes (excluding serial stream start sign)
  50  */
  51 static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  52                                uint16_t command, uint8_t result)
  53 {
  54 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  55     char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
  56     _mav_put_uint16_t(buf, 0, command);
  57     _mav_put_uint8_t(buf, 2, result);
  58
  59         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
  60 #else
  61     mavlink_command_ack_t packet;
  62     packet.command = command;
  63     packet.result = result;
  64
  65         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
  66 #endif
  67
  68     msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
  69     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
  70 }
  71
  72 /**
  73  * @brief Pack a command_ack message on a channel
  74  * @param system_id ID of this system
  75  * @param component_id ID of this component (e.g. 200 for IMU)
  76  * @param chan The MAVLink channel this message will be sent over
  77  * @param msg The MAVLink message to compress the data into
  78  * @param command Command ID, as defined by MAV_CMD enum.
  79  * @param result See MAV_RESULT enum
  80  * @return length of the message in bytes (excluding serial stream start sign)
  81  */
  82 static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  83                                mavlink_message_t* msg,
  84                                    uint16_t command,uint8_t result)
  85 {
  86 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  87     char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
  88     _mav_put_uint16_t(buf, 0, command);
  89     _mav_put_uint8_t(buf, 2, result);
  90
  91         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
  92 #else
  93     mavlink_command_ack_t packet;
  94     packet.command = command;
  95     packet.result = result;
  96
  97         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
  98 #endif
  99
 100     msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
 101     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
 102 }
 103
 104 /**
 105  * @brief Encode a command_ack struct
 106  *
 107  * @param system_id ID of this system
 108  * @param component_id ID of this component (e.g. 200 for IMU)
 109  * @param msg The MAVLink message to compress the data into
 110  * @param command_ack C-struct to read the message contents from
 111  */
 112 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)
 113 {
 114     return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
 115 }
 116
 117 /**
 118  * @brief Encode a command_ack struct on a channel
 119  *
 120  * @param system_id ID of this system
 121  * @param component_id ID of this component (e.g. 200 for IMU)
 122  * @param chan The MAVLink channel this message will be sent over
 123  * @param msg The MAVLink message to compress the data into
 124  * @param command_ack C-struct to read the message contents from
 125  */
 126 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)
 127 {
 128     return mavlink_msg_command_ack_pack_chan(system_id, component_id, chan, msg, command_ack->command, command_ack->result);
 129 }
 130
 131 /**
 132  * @brief Send a command_ack message
 133  * @param chan MAVLink channel to send the message
 134  *
 135  * @param command Command ID, as defined by MAV_CMD enum.
 136  * @param result See MAV_RESULT enum
 137  */
 138 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 139
 140 static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result)
 141 {
 142 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 143     char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
 144     _mav_put_uint16_t(buf, 0, command);
 145     _mav_put_uint8_t(buf, 2, result);
 146
 147     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
 148 #else
 149     mavlink_command_ack_t packet;
 150     packet.command = command;
 151     packet.result = result;
 152
 153     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
 154 #endif
 155 }
 156
 157 /**
 158  * @brief Send a command_ack message
 159  * @param chan MAVLink channel to send the message
 160  * @param struct The MAVLink struct to serialize
 161  */
 162 static inline void mavlink_msg_command_ack_send_struct(mavlink_channel_t chan, const mavlink_command_ack_t* command_ack)
 163 {
 164 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 165     mavlink_msg_command_ack_send(chan, command_ack->command, command_ack->result);
 166 #else
 167     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)command_ack, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
 168 #endif
 169 }
 170
 171 #if MAVLINK_MSG_ID_COMMAND_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 172 /*
 173   This varient of _send() can be used to save stack space by re-using
 174   memory from the receive buffer.  The caller provides a
 175   mavlink_message_t which is the size of a full mavlink message. This
 176   is usually the receive buffer for the channel, and allows a reply to an
 177   incoming message with minimum stack space usage.
 178  */
 179 static inline void mavlink_msg_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t command, uint8_t result)
 180 {
 181 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 182     char *buf = (char *)msgbuf;
 183     _mav_put_uint16_t(buf, 0, command);
 184     _mav_put_uint8_t(buf, 2, result);
 185
 186     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
 187 #else
 188     mavlink_command_ack_t *packet = (mavlink_command_ack_t *)msgbuf;
 189     packet->command = command;
 190     packet->result = result;
 191
 192     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
 193 #endif
 194 }
 195 #endif
 196
 197 #endif
 198
 199 // MESSAGE COMMAND_ACK UNPACKING
 200
 201
 202 /**
 203  * @brief Get field command from command_ack message
 204  *
 205  * @return Command ID, as defined by MAV_CMD enum.
 206  */
 207 static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
 208 {
 209     return _MAV_RETURN_uint16_t(msg,  0);
 210 }
 211
 212 /**
 213  * @brief Get field result from command_ack message
 214  *
 215  * @return See MAV_RESULT enum
 216  */
 217 static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
 218 {
 219     return _MAV_RETURN_uint8_t(msg,  2);
 220 }
 221
 222 /**
 223  * @brief Decode a command_ack message into a struct
 224  *
 225  * @param msg The message to decode
 226  * @param command_ack C-struct to decode the message contents into
 227  */
 228 static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
 229 {
 230 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 231     command_ack->command = mavlink_msg_command_ack_get_command(msg);
 232     command_ack->result = mavlink_msg_command_ack_get_result(msg);
 233 #else
 234         uint8_t len = msg->len < MAVLINK_MSG_ID_COMMAND_ACK_LEN? msg->len : MAVLINK_MSG_ID_COMMAND_ACK_LEN;
 235         memset(command_ack, 0, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
 236     memcpy(command_ack, _MAV_PAYLOAD(msg), len);
 237 #endif
 238 }