lib/main/MAVLink/common/mavlink_msg_statustext.h

   1 #pragma once
   2 // MESSAGE STATUSTEXT PACKING
   3
   4 #define MAVLINK_MSG_ID_STATUSTEXT 253
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_statustext_t {
   8  uint8_t severity; /*< Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.*/
   9  char text[50]; /*< Status text message, without null termination character*/
  10 }) mavlink_statustext_t;
  11
  12 #define MAVLINK_MSG_ID_STATUSTEXT_LEN 51
  13 #define MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN 51
  14 #define MAVLINK_MSG_ID_253_LEN 51
  15 #define MAVLINK_MSG_ID_253_MIN_LEN 51
  16
  17 #define MAVLINK_MSG_ID_STATUSTEXT_CRC 83
  18 #define MAVLINK_MSG_ID_253_CRC 83
  19
  20 #define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50
  21
  22 #if MAVLINK_COMMAND_24BIT
  23 #define MAVLINK_MESSAGE_INFO_STATUSTEXT { \
  24     253, \
  25     "STATUSTEXT", \
  26     2, \
  27     {  { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \
  28          { "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \
  29          } \
  30 }
  31 #else
  32 #define MAVLINK_MESSAGE_INFO_STATUSTEXT { \
  33     "STATUSTEXT", \
  34     2, \
  35     {  { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \
  36          { "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \
  37          } \
  38 }
  39 #endif
  40
  41 /**
  42  * @brief Pack a statustext 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 severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
  48  * @param text Status text message, without null termination character
  49  * @return length of the message in bytes (excluding serial stream start sign)
  50  */
  51 static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  52                                uint8_t severity, const char *text)
  53 {
  54 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  55     char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
  56     _mav_put_uint8_t(buf, 0, severity);
  57     _mav_put_char_array(buf, 1, text, 50);
  58         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUSTEXT_LEN);
  59 #else
  60     mavlink_statustext_t packet;
  61     packet.severity = severity;
  62     mav_array_memcpy(packet.text, text, sizeof(char)*50);
  63         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUSTEXT_LEN);
  64 #endif
  65
  66     msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
  67     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
  68 }
  69
  70 /**
  71  * @brief Pack a statustext message on a channel
  72  * @param system_id ID of this system
  73  * @param component_id ID of this component (e.g. 200 for IMU)
  74  * @param chan The MAVLink channel this message will be sent over
  75  * @param msg The MAVLink message to compress the data into
  76  * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
  77  * @param text Status text message, without null termination character
  78  * @return length of the message in bytes (excluding serial stream start sign)
  79  */
  80 static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  81                                mavlink_message_t* msg,
  82                                    uint8_t severity,const char *text)
  83 {
  84 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  85     char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
  86     _mav_put_uint8_t(buf, 0, severity);
  87     _mav_put_char_array(buf, 1, text, 50);
  88         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUSTEXT_LEN);
  89 #else
  90     mavlink_statustext_t packet;
  91     packet.severity = severity;
  92     mav_array_memcpy(packet.text, text, sizeof(char)*50);
  93         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUSTEXT_LEN);
  94 #endif
  95
  96     msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
  97     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
  98 }
  99
 100 /**
 101  * @brief Encode a statustext struct
 102  *
 103  * @param system_id ID of this system
 104  * @param component_id ID of this component (e.g. 200 for IMU)
 105  * @param msg The MAVLink message to compress the data into
 106  * @param statustext C-struct to read the message contents from
 107  */
 108 static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_statustext_t* statustext)
 109 {
 110     return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text);
 111 }
 112
 113 /**
 114  * @brief Encode a statustext struct on a channel
 115  *
 116  * @param system_id ID of this system
 117  * @param component_id ID of this component (e.g. 200 for IMU)
 118  * @param chan The MAVLink channel this message will be sent over
 119  * @param msg The MAVLink message to compress the data into
 120  * @param statustext C-struct to read the message contents from
 121  */
 122 static inline uint16_t mavlink_msg_statustext_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_statustext_t* statustext)
 123 {
 124     return mavlink_msg_statustext_pack_chan(system_id, component_id, chan, msg, statustext->severity, statustext->text);
 125 }
 126
 127 /**
 128  * @brief Send a statustext message
 129  * @param chan MAVLink channel to send the message
 130  *
 131  * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
 132  * @param text Status text message, without null termination character
 133  */
 134 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 135
 136 static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text)
 137 {
 138 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 139     char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
 140     _mav_put_uint8_t(buf, 0, severity);
 141     _mav_put_char_array(buf, 1, text, 50);
 142     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
 143 #else
 144     mavlink_statustext_t packet;
 145     packet.severity = severity;
 146     mav_array_memcpy(packet.text, text, sizeof(char)*50);
 147     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
 148 #endif
 149 }
 150
 151 /**
 152  * @brief Send a statustext message
 153  * @param chan MAVLink channel to send the message
 154  * @param struct The MAVLink struct to serialize
 155  */
 156 static inline void mavlink_msg_statustext_send_struct(mavlink_channel_t chan, const mavlink_statustext_t* statustext)
 157 {
 158 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 159     mavlink_msg_statustext_send(chan, statustext->severity, statustext->text);
 160 #else
 161     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)statustext, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
 162 #endif
 163 }
 164
 165 #if MAVLINK_MSG_ID_STATUSTEXT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 166 /*
 167   This varient of _send() can be used to save stack space by re-using
 168   memory from the receive buffer.  The caller provides a
 169   mavlink_message_t which is the size of a full mavlink message. This
 170   is usually the receive buffer for the channel, and allows a reply to an
 171   incoming message with minimum stack space usage.
 172  */
 173 static inline void mavlink_msg_statustext_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t severity, const char *text)
 174 {
 175 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 176     char *buf = (char *)msgbuf;
 177     _mav_put_uint8_t(buf, 0, severity);
 178     _mav_put_char_array(buf, 1, text, 50);
 179     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
 180 #else
 181     mavlink_statustext_t *packet = (mavlink_statustext_t *)msgbuf;
 182     packet->severity = severity;
 183     mav_array_memcpy(packet->text, text, sizeof(char)*50);
 184     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)packet, MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
 185 #endif
 186 }
 187 #endif
 188
 189 #endif
 190
 191 // MESSAGE STATUSTEXT UNPACKING
 192
 193
 194 /**
 195  * @brief Get field severity from statustext message
 196  *
 197  * @return Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
 198  */
 199 static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg)
 200 {
 201     return _MAV_RETURN_uint8_t(msg,  0);
 202 }
 203
 204 /**
 205  * @brief Get field text from statustext message
 206  *
 207  * @return Status text message, without null termination character
 208  */
 209 static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, char *text)
 210 {
 211     return _MAV_RETURN_char_array(msg, text, 50,  1);
 212 }
 213
 214 /**
 215  * @brief Decode a statustext message into a struct
 216  *
 217  * @param msg The message to decode
 218  * @param statustext C-struct to decode the message contents into
 219  */
 220 static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext)
 221 {
 222 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 223     statustext->severity = mavlink_msg_statustext_get_severity(msg);
 224     mavlink_msg_statustext_get_text(msg, statustext->text);
 225 #else
 226         uint8_t len = msg->len < MAVLINK_MSG_ID_STATUSTEXT_LEN? msg->len : MAVLINK_MSG_ID_STATUSTEXT_LEN;
 227         memset(statustext, 0, MAVLINK_MSG_ID_STATUSTEXT_LEN);
 228     memcpy(statustext, _MAV_PAYLOAD(msg), len);
 229 #endif
 230 }