lib/main/MAVLink/common/mavlink_msg_ping.h

   1 #pragma once
   2 // MESSAGE PING PACKING
   3
   4 #define MAVLINK_MSG_ID_PING 4
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_ping_t {
   8  uint64_t time_usec; /*< Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)*/
   9  uint32_t seq; /*< PING sequence*/
  10  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*/
  11  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*/
  12 }) mavlink_ping_t;
  13
  14 #define MAVLINK_MSG_ID_PING_LEN 14
  15 #define MAVLINK_MSG_ID_PING_MIN_LEN 14
  16 #define MAVLINK_MSG_ID_4_LEN 14
  17 #define MAVLINK_MSG_ID_4_MIN_LEN 14
  18
  19 #define MAVLINK_MSG_ID_PING_CRC 237
  20 #define MAVLINK_MSG_ID_4_CRC 237
  21
  22
  23
  24 #if MAVLINK_COMMAND_24BIT
  25 #define MAVLINK_MESSAGE_INFO_PING { \
  26     4, \
  27     "PING", \
  28     4, \
  29     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
  30          { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
  31          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
  32          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
  33          } \
  34 }
  35 #else
  36 #define MAVLINK_MESSAGE_INFO_PING { \
  37     "PING", \
  38     4, \
  39     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
  40          { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
  41          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
  42          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
  43          } \
  44 }
  45 #endif
  46
  47 /**
  48  * @brief Pack a ping message
  49  * @param system_id ID of this system
  50  * @param component_id ID of this component (e.g. 200 for IMU)
  51  * @param msg The MAVLink message to compress the data into
  52  *
  53  * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
  54  * @param seq PING sequence
  55  * @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
  56  * @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
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  60                                uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63     char buf[MAVLINK_MSG_ID_PING_LEN];
  64     _mav_put_uint64_t(buf, 0, time_usec);
  65     _mav_put_uint32_t(buf, 8, seq);
  66     _mav_put_uint8_t(buf, 12, target_system);
  67     _mav_put_uint8_t(buf, 13, target_component);
  68
  69         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
  70 #else
  71     mavlink_ping_t packet;
  72     packet.time_usec = time_usec;
  73     packet.seq = seq;
  74     packet.target_system = target_system;
  75     packet.target_component = target_component;
  76
  77         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
  78 #endif
  79
  80     msg->msgid = MAVLINK_MSG_ID_PING;
  81     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
  82 }
  83
  84 /**
  85  * @brief Pack a ping message on a channel
  86  * @param system_id ID of this system
  87  * @param component_id ID of this component (e.g. 200 for IMU)
  88  * @param chan The MAVLink channel this message will be sent over
  89  * @param msg The MAVLink message to compress the data into
  90  * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
  91  * @param seq PING sequence
  92  * @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
  93  * @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
  94  * @return length of the message in bytes (excluding serial stream start sign)
  95  */
  96 static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  97                                mavlink_message_t* msg,
  98                                    uint64_t time_usec,uint32_t seq,uint8_t target_system,uint8_t target_component)
  99 {
 100 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 101     char buf[MAVLINK_MSG_ID_PING_LEN];
 102     _mav_put_uint64_t(buf, 0, time_usec);
 103     _mav_put_uint32_t(buf, 8, seq);
 104     _mav_put_uint8_t(buf, 12, target_system);
 105     _mav_put_uint8_t(buf, 13, target_component);
 106
 107         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
 108 #else
 109     mavlink_ping_t packet;
 110     packet.time_usec = time_usec;
 111     packet.seq = seq;
 112     packet.target_system = target_system;
 113     packet.target_component = target_component;
 114
 115         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
 116 #endif
 117
 118     msg->msgid = MAVLINK_MSG_ID_PING;
 119     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
 120 }
 121
 122 /**
 123  * @brief Encode a ping struct
 124  *
 125  * @param system_id ID of this system
 126  * @param component_id ID of this component (e.g. 200 for IMU)
 127  * @param msg The MAVLink message to compress the data into
 128  * @param ping C-struct to read the message contents from
 129  */
 130 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)
 131 {
 132     return mavlink_msg_ping_pack(system_id, component_id, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
 133 }
 134
 135 /**
 136  * @brief Encode a ping struct on a channel
 137  *
 138  * @param system_id ID of this system
 139  * @param component_id ID of this component (e.g. 200 for IMU)
 140  * @param chan The MAVLink channel this message will be sent over
 141  * @param msg The MAVLink message to compress the data into
 142  * @param ping C-struct to read the message contents from
 143  */
 144 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)
 145 {
 146     return mavlink_msg_ping_pack_chan(system_id, component_id, chan, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
 147 }
 148
 149 /**
 150  * @brief Send a ping message
 151  * @param chan MAVLink channel to send the message
 152  *
 153  * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
 154  * @param seq PING sequence
 155  * @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
 156  * @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
 157  */
 158 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 159
 160 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)
 161 {
 162 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 163     char buf[MAVLINK_MSG_ID_PING_LEN];
 164     _mav_put_uint64_t(buf, 0, time_usec);
 165     _mav_put_uint32_t(buf, 8, seq);
 166     _mav_put_uint8_t(buf, 12, target_system);
 167     _mav_put_uint8_t(buf, 13, target_component);
 168
 169     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
 170 #else
 171     mavlink_ping_t packet;
 172     packet.time_usec = time_usec;
 173     packet.seq = seq;
 174     packet.target_system = target_system;
 175     packet.target_component = target_component;
 176
 177     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
 178 #endif
 179 }
 180
 181 /**
 182  * @brief Send a ping message
 183  * @param chan MAVLink channel to send the message
 184  * @param struct The MAVLink struct to serialize
 185  */
 186 static inline void mavlink_msg_ping_send_struct(mavlink_channel_t chan, const mavlink_ping_t* ping)
 187 {
 188 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 189     mavlink_msg_ping_send(chan, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
 190 #else
 191     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)ping, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
 192 #endif
 193 }
 194
 195 #if MAVLINK_MSG_ID_PING_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 196 /*
 197   This varient of _send() can be used to save stack space by re-using
 198   memory from the receive buffer.  The caller provides a
 199   mavlink_message_t which is the size of a full mavlink message. This
 200   is usually the receive buffer for the channel, and allows a reply to an
 201   incoming message with minimum stack space usage.
 202  */
 203 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)
 204 {
 205 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 206     char *buf = (char *)msgbuf;
 207     _mav_put_uint64_t(buf, 0, time_usec);
 208     _mav_put_uint32_t(buf, 8, seq);
 209     _mav_put_uint8_t(buf, 12, target_system);
 210     _mav_put_uint8_t(buf, 13, target_component);
 211
 212     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
 213 #else
 214     mavlink_ping_t *packet = (mavlink_ping_t *)msgbuf;
 215     packet->time_usec = time_usec;
 216     packet->seq = seq;
 217     packet->target_system = target_system;
 218     packet->target_component = target_component;
 219
 220     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)packet, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
 221 #endif
 222 }
 223 #endif
 224
 225 #endif
 226
 227 // MESSAGE PING UNPACKING
 228
 229
 230 /**
 231  * @brief Get field time_usec from ping message
 232  *
 233  * @return Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
 234  */
 235 static inline uint64_t mavlink_msg_ping_get_time_usec(const mavlink_message_t* msg)
 236 {
 237     return _MAV_RETURN_uint64_t(msg,  0);
 238 }
 239
 240 /**
 241  * @brief Get field seq from ping message
 242  *
 243  * @return PING sequence
 244  */
 245 static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
 246 {
 247     return _MAV_RETURN_uint32_t(msg,  8);
 248 }
 249
 250 /**
 251  * @brief Get field target_system from ping message
 252  *
 253  * @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
 254  */
 255 static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
 256 {
 257     return _MAV_RETURN_uint8_t(msg,  12);
 258 }
 259
 260 /**
 261  * @brief Get field target_component from ping message
 262  *
 263  * @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
 264  */
 265 static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
 266 {
 267     return _MAV_RETURN_uint8_t(msg,  13);
 268 }
 269
 270 /**
 271  * @brief Decode a ping message into a struct
 272  *
 273  * @param msg The message to decode
 274  * @param ping C-struct to decode the message contents into
 275  */
 276 static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
 277 {
 278 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 279     ping->time_usec = mavlink_msg_ping_get_time_usec(msg);
 280     ping->seq = mavlink_msg_ping_get_seq(msg);
 281     ping->target_system = mavlink_msg_ping_get_target_system(msg);
 282     ping->target_component = mavlink_msg_ping_get_target_component(msg);
 283 #else
 284         uint8_t len = msg->len < MAVLINK_MSG_ID_PING_LEN? msg->len : MAVLINK_MSG_ID_PING_LEN;
 285         memset(ping, 0, MAVLINK_MSG_ID_PING_LEN);
 286     memcpy(ping, _MAV_PAYLOAD(msg), len);
 287 #endif
 288 }