lib/main/MAVLink/common/mavlink_msg_optical_flow.h

   1 #pragma once
   2 // MESSAGE OPTICAL_FLOW PACKING
   3
   4 #define MAVLINK_MSG_ID_OPTICAL_FLOW 100
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_optical_flow_t {
   8  uint64_t time_usec; /*< Timestamp (UNIX)*/
   9  float flow_comp_m_x; /*< Flow in meters in x-sensor direction, angular-speed compensated*/
  10  float flow_comp_m_y; /*< Flow in meters in y-sensor direction, angular-speed compensated*/
  11  float ground_distance; /*< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance*/
  12  int16_t flow_x; /*< Flow in pixels * 10 in x-sensor direction (dezi-pixels)*/
  13  int16_t flow_y; /*< Flow in pixels * 10 in y-sensor direction (dezi-pixels)*/
  14  uint8_t sensor_id; /*< Sensor ID*/
  15  uint8_t quality; /*< Optical flow quality / confidence. 0: bad, 255: maximum quality*/
  16 }) mavlink_optical_flow_t;
  17
  18 #define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 26
  19 #define MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN 26
  20 #define MAVLINK_MSG_ID_100_LEN 26
  21 #define MAVLINK_MSG_ID_100_MIN_LEN 26
  22
  23 #define MAVLINK_MSG_ID_OPTICAL_FLOW_CRC 175
  24 #define MAVLINK_MSG_ID_100_CRC 175
  25
  26
  27
  28 #if MAVLINK_COMMAND_24BIT
  29 #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
  30     100, \
  31     "OPTICAL_FLOW", \
  32     8, \
  33     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
  34          { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
  35          { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
  36          { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
  37          { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
  38          { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
  39          { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
  40          { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
  41          } \
  42 }
  43 #else
  44 #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
  45     "OPTICAL_FLOW", \
  46     8, \
  47     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
  48          { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
  49          { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
  50          { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
  51          { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
  52          { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
  53          { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
  54          { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
  55          } \
  56 }
  57 #endif
  58
  59 /**
  60  * @brief Pack a optical_flow message
  61  * @param system_id ID of this system
  62  * @param component_id ID of this component (e.g. 200 for IMU)
  63  * @param msg The MAVLink message to compress the data into
  64  *
  65  * @param time_usec Timestamp (UNIX)
  66  * @param sensor_id Sensor ID
  67  * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
  68  * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
  69  * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
  70  * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
  71  * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
  72  * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
  73  * @return length of the message in bytes (excluding serial stream start sign)
  74  */
  75 static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  76                                uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
  77 {
  78 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  79     char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
  80     _mav_put_uint64_t(buf, 0, time_usec);
  81     _mav_put_float(buf, 8, flow_comp_m_x);
  82     _mav_put_float(buf, 12, flow_comp_m_y);
  83     _mav_put_float(buf, 16, ground_distance);
  84     _mav_put_int16_t(buf, 20, flow_x);
  85     _mav_put_int16_t(buf, 22, flow_y);
  86     _mav_put_uint8_t(buf, 24, sensor_id);
  87     _mav_put_uint8_t(buf, 25, quality);
  88
  89         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
  90 #else
  91     mavlink_optical_flow_t packet;
  92     packet.time_usec = time_usec;
  93     packet.flow_comp_m_x = flow_comp_m_x;
  94     packet.flow_comp_m_y = flow_comp_m_y;
  95     packet.ground_distance = ground_distance;
  96     packet.flow_x = flow_x;
  97     packet.flow_y = flow_y;
  98     packet.sensor_id = sensor_id;
  99     packet.quality = quality;
 100
 101         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 102 #endif
 103
 104     msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
 105     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 106 }
 107
 108 /**
 109  * @brief Pack a optical_flow message on a channel
 110  * @param system_id ID of this system
 111  * @param component_id ID of this component (e.g. 200 for IMU)
 112  * @param chan The MAVLink channel this message will be sent over
 113  * @param msg The MAVLink message to compress the data into
 114  * @param time_usec Timestamp (UNIX)
 115  * @param sensor_id Sensor ID
 116  * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
 117  * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
 118  * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
 119  * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
 120  * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
 121  * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
 122  * @return length of the message in bytes (excluding serial stream start sign)
 123  */
 124 static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 125                                mavlink_message_t* msg,
 126                                    uint64_t time_usec,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,float flow_comp_m_x,float flow_comp_m_y,uint8_t quality,float ground_distance)
 127 {
 128 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 129     char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
 130     _mav_put_uint64_t(buf, 0, time_usec);
 131     _mav_put_float(buf, 8, flow_comp_m_x);
 132     _mav_put_float(buf, 12, flow_comp_m_y);
 133     _mav_put_float(buf, 16, ground_distance);
 134     _mav_put_int16_t(buf, 20, flow_x);
 135     _mav_put_int16_t(buf, 22, flow_y);
 136     _mav_put_uint8_t(buf, 24, sensor_id);
 137     _mav_put_uint8_t(buf, 25, quality);
 138
 139         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 140 #else
 141     mavlink_optical_flow_t packet;
 142     packet.time_usec = time_usec;
 143     packet.flow_comp_m_x = flow_comp_m_x;
 144     packet.flow_comp_m_y = flow_comp_m_y;
 145     packet.ground_distance = ground_distance;
 146     packet.flow_x = flow_x;
 147     packet.flow_y = flow_y;
 148     packet.sensor_id = sensor_id;
 149     packet.quality = quality;
 150
 151         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 152 #endif
 153
 154     msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
 155     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 156 }
 157
 158 /**
 159  * @brief Encode a optical_flow struct
 160  *
 161  * @param system_id ID of this system
 162  * @param component_id ID of this component (e.g. 200 for IMU)
 163  * @param msg The MAVLink message to compress the data into
 164  * @param optical_flow C-struct to read the message contents from
 165  */
 166 static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow)
 167 {
 168     return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time_usec, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->flow_comp_m_x, optical_flow->flow_comp_m_y, optical_flow->quality, optical_flow->ground_distance);
 169 }
 170
 171 /**
 172  * @brief Encode a optical_flow struct on a channel
 173  *
 174  * @param system_id ID of this system
 175  * @param component_id ID of this component (e.g. 200 for IMU)
 176  * @param chan The MAVLink channel this message will be sent over
 177  * @param msg The MAVLink message to compress the data into
 178  * @param optical_flow C-struct to read the message contents from
 179  */
 180 static inline uint16_t mavlink_msg_optical_flow_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow)
 181 {
 182     return mavlink_msg_optical_flow_pack_chan(system_id, component_id, chan, msg, optical_flow->time_usec, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->flow_comp_m_x, optical_flow->flow_comp_m_y, optical_flow->quality, optical_flow->ground_distance);
 183 }
 184
 185 /**
 186  * @brief Send a optical_flow message
 187  * @param chan MAVLink channel to send the message
 188  *
 189  * @param time_usec Timestamp (UNIX)
 190  * @param sensor_id Sensor ID
 191  * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
 192  * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
 193  * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
 194  * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
 195  * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
 196  * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
 197  */
 198 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 199
 200 static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
 201 {
 202 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 203     char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
 204     _mav_put_uint64_t(buf, 0, time_usec);
 205     _mav_put_float(buf, 8, flow_comp_m_x);
 206     _mav_put_float(buf, 12, flow_comp_m_y);
 207     _mav_put_float(buf, 16, ground_distance);
 208     _mav_put_int16_t(buf, 20, flow_x);
 209     _mav_put_int16_t(buf, 22, flow_y);
 210     _mav_put_uint8_t(buf, 24, sensor_id);
 211     _mav_put_uint8_t(buf, 25, quality);
 212
 213     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 214 #else
 215     mavlink_optical_flow_t packet;
 216     packet.time_usec = time_usec;
 217     packet.flow_comp_m_x = flow_comp_m_x;
 218     packet.flow_comp_m_y = flow_comp_m_y;
 219     packet.ground_distance = ground_distance;
 220     packet.flow_x = flow_x;
 221     packet.flow_y = flow_y;
 222     packet.sensor_id = sensor_id;
 223     packet.quality = quality;
 224
 225     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 226 #endif
 227 }
 228
 229 /**
 230  * @brief Send a optical_flow message
 231  * @param chan MAVLink channel to send the message
 232  * @param struct The MAVLink struct to serialize
 233  */
 234 static inline void mavlink_msg_optical_flow_send_struct(mavlink_channel_t chan, const mavlink_optical_flow_t* optical_flow)
 235 {
 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 237     mavlink_msg_optical_flow_send(chan, optical_flow->time_usec, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->flow_comp_m_x, optical_flow->flow_comp_m_y, optical_flow->quality, optical_flow->ground_distance);
 238 #else
 239     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)optical_flow, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 240 #endif
 241 }
 242
 243 #if MAVLINK_MSG_ID_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 244 /*
 245   This varient of _send() can be used to save stack space by re-using
 246   memory from the receive buffer.  The caller provides a
 247   mavlink_message_t which is the size of a full mavlink message. This
 248   is usually the receive buffer for the channel, and allows a reply to an
 249   incoming message with minimum stack space usage.
 250  */
 251 static inline void mavlink_msg_optical_flow_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
 252 {
 253 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 254     char *buf = (char *)msgbuf;
 255     _mav_put_uint64_t(buf, 0, time_usec);
 256     _mav_put_float(buf, 8, flow_comp_m_x);
 257     _mav_put_float(buf, 12, flow_comp_m_y);
 258     _mav_put_float(buf, 16, ground_distance);
 259     _mav_put_int16_t(buf, 20, flow_x);
 260     _mav_put_int16_t(buf, 22, flow_y);
 261     _mav_put_uint8_t(buf, 24, sensor_id);
 262     _mav_put_uint8_t(buf, 25, quality);
 263
 264     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 265 #else
 266     mavlink_optical_flow_t *packet = (mavlink_optical_flow_t *)msgbuf;
 267     packet->time_usec = time_usec;
 268     packet->flow_comp_m_x = flow_comp_m_x;
 269     packet->flow_comp_m_y = flow_comp_m_y;
 270     packet->ground_distance = ground_distance;
 271     packet->flow_x = flow_x;
 272     packet->flow_y = flow_y;
 273     packet->sensor_id = sensor_id;
 274     packet->quality = quality;
 275
 276     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 277 #endif
 278 }
 279 #endif
 280
 281 #endif
 282
 283 // MESSAGE OPTICAL_FLOW UNPACKING
 284
 285
 286 /**
 287  * @brief Get field time_usec from optical_flow message
 288  *
 289  * @return Timestamp (UNIX)
 290  */
 291 static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg)
 292 {
 293     return _MAV_RETURN_uint64_t(msg,  0);
 294 }
 295
 296 /**
 297  * @brief Get field sensor_id from optical_flow message
 298  *
 299  * @return Sensor ID
 300  */
 301 static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
 302 {
 303     return _MAV_RETURN_uint8_t(msg,  24);
 304 }
 305
 306 /**
 307  * @brief Get field flow_x from optical_flow message
 308  *
 309  * @return Flow in pixels * 10 in x-sensor direction (dezi-pixels)
 310  */
 311 static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
 312 {
 313     return _MAV_RETURN_int16_t(msg,  20);
 314 }
 315
 316 /**
 317  * @brief Get field flow_y from optical_flow message
 318  *
 319  * @return Flow in pixels * 10 in y-sensor direction (dezi-pixels)
 320  */
 321 static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
 322 {
 323     return _MAV_RETURN_int16_t(msg,  22);
 324 }
 325
 326 /**
 327  * @brief Get field flow_comp_m_x from optical_flow message
 328  *
 329  * @return Flow in meters in x-sensor direction, angular-speed compensated
 330  */
 331 static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
 332 {
 333     return _MAV_RETURN_float(msg,  8);
 334 }
 335
 336 /**
 337  * @brief Get field flow_comp_m_y from optical_flow message
 338  *
 339  * @return Flow in meters in y-sensor direction, angular-speed compensated
 340  */
 341 static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
 342 {
 343     return _MAV_RETURN_float(msg,  12);
 344 }
 345
 346 /**
 347  * @brief Get field quality from optical_flow message
 348  *
 349  * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
 350  */
 351 static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
 352 {
 353     return _MAV_RETURN_uint8_t(msg,  25);
 354 }
 355
 356 /**
 357  * @brief Get field ground_distance from optical_flow message
 358  *
 359  * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
 360  */
 361 static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
 362 {
 363     return _MAV_RETURN_float(msg,  16);
 364 }
 365
 366 /**
 367  * @brief Decode a optical_flow message into a struct
 368  *
 369  * @param msg The message to decode
 370  * @param optical_flow C-struct to decode the message contents into
 371  */
 372 static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
 373 {
 374 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 375     optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg);
 376     optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg);
 377     optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(msg);
 378     optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
 379     optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
 380     optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
 381     optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
 382     optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
 383 #else
 384         uint8_t len = msg->len < MAVLINK_MSG_ID_OPTICAL_FLOW_LEN? msg->len : MAVLINK_MSG_ID_OPTICAL_FLOW_LEN;
 385         memset(optical_flow, 0, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 386     memcpy(optical_flow, _MAV_PAYLOAD(msg), len);
 387 #endif
 388 }