lib/main/MAVLink/common/mavlink_msg_system_time.h

   1 #pragma once
   2 // MESSAGE SYSTEM_TIME PACKING
   3
   4 #define MAVLINK_MSG_ID_SYSTEM_TIME 2
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_system_time_t {
   8  uint64_t time_unix_usec; /*< Timestamp of the master clock in microseconds since UNIX epoch.*/
   9  uint32_t time_boot_ms; /*< Timestamp of the component clock since boot time in milliseconds.*/
  10 }) mavlink_system_time_t;
  11
  12 #define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 12
  13 #define MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN 12
  14 #define MAVLINK_MSG_ID_2_LEN 12
  15 #define MAVLINK_MSG_ID_2_MIN_LEN 12
  16
  17 #define MAVLINK_MSG_ID_SYSTEM_TIME_CRC 137
  18 #define MAVLINK_MSG_ID_2_CRC 137
  19
  20
  21
  22 #if MAVLINK_COMMAND_24BIT
  23 #define MAVLINK_MESSAGE_INFO_SYSTEM_TIME { \
  24     2, \
  25     "SYSTEM_TIME", \
  26     2, \
  27     {  { "time_unix_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_unix_usec) }, \
  28          { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_system_time_t, time_boot_ms) }, \
  29          } \
  30 }
  31 #else
  32 #define MAVLINK_MESSAGE_INFO_SYSTEM_TIME { \
  33     "SYSTEM_TIME", \
  34     2, \
  35     {  { "time_unix_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_unix_usec) }, \
  36          { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_system_time_t, time_boot_ms) }, \
  37          } \
  38 }
  39 #endif
  40
  41 /**
  42  * @brief Pack a system_time 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 time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
  48  * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
  49  * @return length of the message in bytes (excluding serial stream start sign)
  50  */
  51 static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  52                                uint64_t time_unix_usec, uint32_t time_boot_ms)
  53 {
  54 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  55     char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN];
  56     _mav_put_uint64_t(buf, 0, time_unix_usec);
  57     _mav_put_uint32_t(buf, 8, time_boot_ms);
  58
  59         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
  60 #else
  61     mavlink_system_time_t packet;
  62     packet.time_unix_usec = time_unix_usec;
  63     packet.time_boot_ms = time_boot_ms;
  64
  65         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
  66 #endif
  67
  68     msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
  69     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
  70 }
  71
  72 /**
  73  * @brief Pack a system_time 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 time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
  79  * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
  80  * @return length of the message in bytes (excluding serial stream start sign)
  81  */
  82 static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  83                                mavlink_message_t* msg,
  84                                    uint64_t time_unix_usec,uint32_t time_boot_ms)
  85 {
  86 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  87     char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN];
  88     _mav_put_uint64_t(buf, 0, time_unix_usec);
  89     _mav_put_uint32_t(buf, 8, time_boot_ms);
  90
  91         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
  92 #else
  93     mavlink_system_time_t packet;
  94     packet.time_unix_usec = time_unix_usec;
  95     packet.time_boot_ms = time_boot_ms;
  96
  97         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
  98 #endif
  99
 100     msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
 101     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
 102 }
 103
 104 /**
 105  * @brief Encode a system_time 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 system_time C-struct to read the message contents from
 111  */
 112 static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_t* system_time)
 113 {
 114     return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_unix_usec, system_time->time_boot_ms);
 115 }
 116
 117 /**
 118  * @brief Encode a system_time 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 system_time C-struct to read the message contents from
 125  */
 126 static inline uint16_t mavlink_msg_system_time_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_system_time_t* system_time)
 127 {
 128     return mavlink_msg_system_time_pack_chan(system_id, component_id, chan, msg, system_time->time_unix_usec, system_time->time_boot_ms);
 129 }
 130
 131 /**
 132  * @brief Send a system_time message
 133  * @param chan MAVLink channel to send the message
 134  *
 135  * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
 136  * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
 137  */
 138 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 139
 140 static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_unix_usec, uint32_t time_boot_ms)
 141 {
 142 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 143     char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN];
 144     _mav_put_uint64_t(buf, 0, time_unix_usec);
 145     _mav_put_uint32_t(buf, 8, time_boot_ms);
 146
 147     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
 148 #else
 149     mavlink_system_time_t packet;
 150     packet.time_unix_usec = time_unix_usec;
 151     packet.time_boot_ms = time_boot_ms;
 152
 153     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
 154 #endif
 155 }
 156
 157 /**
 158  * @brief Send a system_time 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_system_time_send_struct(mavlink_channel_t chan, const mavlink_system_time_t* system_time)
 163 {
 164 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 165     mavlink_msg_system_time_send(chan, system_time->time_unix_usec, system_time->time_boot_ms);
 166 #else
 167     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)system_time, MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
 168 #endif
 169 }
 170
 171 #if MAVLINK_MSG_ID_SYSTEM_TIME_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_system_time_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_unix_usec, uint32_t time_boot_ms)
 180 {
 181 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 182     char *buf = (char *)msgbuf;
 183     _mav_put_uint64_t(buf, 0, time_unix_usec);
 184     _mav_put_uint32_t(buf, 8, time_boot_ms);
 185
 186     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
 187 #else
 188     mavlink_system_time_t *packet = (mavlink_system_time_t *)msgbuf;
 189     packet->time_unix_usec = time_unix_usec;
 190     packet->time_boot_ms = time_boot_ms;
 191
 192     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)packet, MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
 193 #endif
 194 }
 195 #endif
 196
 197 #endif
 198
 199 // MESSAGE SYSTEM_TIME UNPACKING
 200
 201
 202 /**
 203  * @brief Get field time_unix_usec from system_time message
 204  *
 205  * @return Timestamp of the master clock in microseconds since UNIX epoch.
 206  */
 207 static inline uint64_t mavlink_msg_system_time_get_time_unix_usec(const mavlink_message_t* msg)
 208 {
 209     return _MAV_RETURN_uint64_t(msg,  0);
 210 }
 211
 212 /**
 213  * @brief Get field time_boot_ms from system_time message
 214  *
 215  * @return Timestamp of the component clock since boot time in milliseconds.
 216  */
 217 static inline uint32_t mavlink_msg_system_time_get_time_boot_ms(const mavlink_message_t* msg)
 218 {
 219     return _MAV_RETURN_uint32_t(msg,  8);
 220 }
 221
 222 /**
 223  * @brief Decode a system_time message into a struct
 224  *
 225  * @param msg The message to decode
 226  * @param system_time C-struct to decode the message contents into
 227  */
 228 static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time)
 229 {
 230 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 231     system_time->time_unix_usec = mavlink_msg_system_time_get_time_unix_usec(msg);
 232     system_time->time_boot_ms = mavlink_msg_system_time_get_time_boot_ms(msg);
 233 #else
 234         uint8_t len = msg->len < MAVLINK_MSG_ID_SYSTEM_TIME_LEN? msg->len : MAVLINK_MSG_ID_SYSTEM_TIME_LEN;
 235         memset(system_time, 0, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
 236     memcpy(system_time, _MAV_PAYLOAD(msg), len);
 237 #endif
 238 }