lib/main/MAVLink/common/mavlink_msg_param_value.h

   1 #pragma once
   2 // MESSAGE PARAM_VALUE PACKING
   3
   4 #define MAVLINK_MSG_ID_PARAM_VALUE 22
   5
   6
   7 typedef struct __mavlink_param_value_t {
   8  float param_value; /*<  Onboard parameter value*/
   9  uint16_t param_count; /*<  Total number of onboard parameters*/
  10  uint16_t param_index; /*<  Index of this onboard parameter*/
  11  char param_id[16]; /*<  Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string*/
  12  uint8_t param_type; /*<  Onboard parameter type.*/
  13 } mavlink_param_value_t;
  14
  15 #define MAVLINK_MSG_ID_PARAM_VALUE_LEN 25
  16 #define MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN 25
  17 #define MAVLINK_MSG_ID_22_LEN 25
  18 #define MAVLINK_MSG_ID_22_MIN_LEN 25
  19
  20 #define MAVLINK_MSG_ID_PARAM_VALUE_CRC 220
  21 #define MAVLINK_MSG_ID_22_CRC 220
  22
  23 #define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16
  24
  25 #if MAVLINK_COMMAND_24BIT
  26 #define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
  27     22, \
  28     "PARAM_VALUE", \
  29     5, \
  30     {  { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \
  31          { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \
  32          { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \
  33          { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \
  34          { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \
  35          } \
  36 }
  37 #else
  38 #define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
  39     "PARAM_VALUE", \
  40     5, \
  41     {  { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \
  42          { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \
  43          { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \
  44          { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \
  45          { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \
  46          } \
  47 }
  48 #endif
  49
  50 /**
  51  * @brief Pack a param_value message
  52  * @param system_id ID of this system
  53  * @param component_id ID of this component (e.g. 200 for IMU)
  54  * @param msg The MAVLink message to compress the data into
  55  *
  56  * @param param_id  Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
  57  * @param param_value  Onboard parameter value
  58  * @param param_type  Onboard parameter type.
  59  * @param param_count  Total number of onboard parameters
  60  * @param param_index  Index of this onboard parameter
  61  * @return length of the message in bytes (excluding serial stream start sign)
  62  */
  63 static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  64                                const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
  65 {
  66 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  67     char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
  68     _mav_put_float(buf, 0, param_value);
  69     _mav_put_uint16_t(buf, 4, param_count);
  70     _mav_put_uint16_t(buf, 6, param_index);
  71     _mav_put_uint8_t(buf, 24, param_type);
  72     _mav_put_char_array(buf, 8, param_id, 16);
  73         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
  74 #else
  75     mavlink_param_value_t packet;
  76     packet.param_value = param_value;
  77     packet.param_count = param_count;
  78     packet.param_index = param_index;
  79     packet.param_type = param_type;
  80     mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
  81         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
  82 #endif
  83
  84     msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
  85     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
  86 }
  87
  88 /**
  89  * @brief Pack a param_value message on a channel
  90  * @param system_id ID of this system
  91  * @param component_id ID of this component (e.g. 200 for IMU)
  92  * @param chan The MAVLink channel this message will be sent over
  93  * @param msg The MAVLink message to compress the data into
  94  * @param param_id  Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
  95  * @param param_value  Onboard parameter value
  96  * @param param_type  Onboard parameter type.
  97  * @param param_count  Total number of onboard parameters
  98  * @param param_index  Index of this onboard parameter
  99  * @return length of the message in bytes (excluding serial stream start sign)
 100  */
 101 static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 102                                mavlink_message_t* msg,
 103                                    const char *param_id,float param_value,uint8_t param_type,uint16_t param_count,uint16_t param_index)
 104 {
 105 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 106     char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
 107     _mav_put_float(buf, 0, param_value);
 108     _mav_put_uint16_t(buf, 4, param_count);
 109     _mav_put_uint16_t(buf, 6, param_index);
 110     _mav_put_uint8_t(buf, 24, param_type);
 111     _mav_put_char_array(buf, 8, param_id, 16);
 112         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
 113 #else
 114     mavlink_param_value_t packet;
 115     packet.param_value = param_value;
 116     packet.param_count = param_count;
 117     packet.param_index = param_index;
 118     packet.param_type = param_type;
 119     mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
 120         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
 121 #endif
 122
 123     msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
 124     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
 125 }
 126
 127 /**
 128  * @brief Encode a param_value struct
 129  *
 130  * @param system_id ID of this system
 131  * @param component_id ID of this component (e.g. 200 for IMU)
 132  * @param msg The MAVLink message to compress the data into
 133  * @param param_value C-struct to read the message contents from
 134  */
 135 static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
 136 {
 137     return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
 138 }
 139
 140 /**
 141  * @brief Encode a param_value struct on a channel
 142  *
 143  * @param system_id ID of this system
 144  * @param component_id ID of this component (e.g. 200 for IMU)
 145  * @param chan The MAVLink channel this message will be sent over
 146  * @param msg The MAVLink message to compress the data into
 147  * @param param_value C-struct to read the message contents from
 148  */
 149 static inline uint16_t mavlink_msg_param_value_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
 150 {
 151     return mavlink_msg_param_value_pack_chan(system_id, component_id, chan, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
 152 }
 153
 154 /**
 155  * @brief Send a param_value message
 156  * @param chan MAVLink channel to send the message
 157  *
 158  * @param param_id  Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
 159  * @param param_value  Onboard parameter value
 160  * @param param_type  Onboard parameter type.
 161  * @param param_count  Total number of onboard parameters
 162  * @param param_index  Index of this onboard parameter
 163  */
 164 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 165
 166 static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
 167 {
 168 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 169     char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
 170     _mav_put_float(buf, 0, param_value);
 171     _mav_put_uint16_t(buf, 4, param_count);
 172     _mav_put_uint16_t(buf, 6, param_index);
 173     _mav_put_uint8_t(buf, 24, param_type);
 174     _mav_put_char_array(buf, 8, param_id, 16);
 175     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
 176 #else
 177     mavlink_param_value_t packet;
 178     packet.param_value = param_value;
 179     packet.param_count = param_count;
 180     packet.param_index = param_index;
 181     packet.param_type = param_type;
 182     mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
 183     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
 184 #endif
 185 }
 186
 187 /**
 188  * @brief Send a param_value message
 189  * @param chan MAVLink channel to send the message
 190  * @param struct The MAVLink struct to serialize
 191  */
 192 static inline void mavlink_msg_param_value_send_struct(mavlink_channel_t chan, const mavlink_param_value_t* param_value)
 193 {
 194 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 195     mavlink_msg_param_value_send(chan, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
 196 #else
 197     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)param_value, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
 198 #endif
 199 }
 200
 201 #if MAVLINK_MSG_ID_PARAM_VALUE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 202 /*
 203   This varient of _send() can be used to save stack space by re-using
 204   memory from the receive buffer.  The caller provides a
 205   mavlink_message_t which is the size of a full mavlink message. This
 206   is usually the receive buffer for the channel, and allows a reply to an
 207   incoming message with minimum stack space usage.
 208  */
 209 static inline void mavlink_msg_param_value_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
 210 {
 211 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 212     char *buf = (char *)msgbuf;
 213     _mav_put_float(buf, 0, param_value);
 214     _mav_put_uint16_t(buf, 4, param_count);
 215     _mav_put_uint16_t(buf, 6, param_index);
 216     _mav_put_uint8_t(buf, 24, param_type);
 217     _mav_put_char_array(buf, 8, param_id, 16);
 218     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
 219 #else
 220     mavlink_param_value_t *packet = (mavlink_param_value_t *)msgbuf;
 221     packet->param_value = param_value;
 222     packet->param_count = param_count;
 223     packet->param_index = param_index;
 224     packet->param_type = param_type;
 225     mav_array_memcpy(packet->param_id, param_id, sizeof(char)*16);
 226     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)packet, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
 227 #endif
 228 }
 229 #endif
 230
 231 #endif
 232
 233 // MESSAGE PARAM_VALUE UNPACKING
 234
 235
 236 /**
 237  * @brief Get field param_id from param_value message
 238  *
 239  * @return  Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
 240  */
 241 static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, char *param_id)
 242 {
 243     return _MAV_RETURN_char_array(msg, param_id, 16,  8);
 244 }
 245
 246 /**
 247  * @brief Get field param_value from param_value message
 248  *
 249  * @return  Onboard parameter value
 250  */
 251 static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg)
 252 {
 253     return _MAV_RETURN_float(msg,  0);
 254 }
 255
 256 /**
 257  * @brief Get field param_type from param_value message
 258  *
 259  * @return  Onboard parameter type.
 260  */
 261 static inline uint8_t mavlink_msg_param_value_get_param_type(const mavlink_message_t* msg)
 262 {
 263     return _MAV_RETURN_uint8_t(msg,  24);
 264 }
 265
 266 /**
 267  * @brief Get field param_count from param_value message
 268  *
 269  * @return  Total number of onboard parameters
 270  */
 271 static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg)
 272 {
 273     return _MAV_RETURN_uint16_t(msg,  4);
 274 }
 275
 276 /**
 277  * @brief Get field param_index from param_value message
 278  *
 279  * @return  Index of this onboard parameter
 280  */
 281 static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg)
 282 {
 283     return _MAV_RETURN_uint16_t(msg,  6);
 284 }
 285
 286 /**
 287  * @brief Decode a param_value message into a struct
 288  *
 289  * @param msg The message to decode
 290  * @param param_value C-struct to decode the message contents into
 291  */
 292 static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value)
 293 {
 294 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 295     param_value->param_value = mavlink_msg_param_value_get_param_value(msg);
 296     param_value->param_count = mavlink_msg_param_value_get_param_count(msg);
 297     param_value->param_index = mavlink_msg_param_value_get_param_index(msg);
 298     mavlink_msg_param_value_get_param_id(msg, param_value->param_id);
 299     param_value->param_type = mavlink_msg_param_value_get_param_type(msg);
 300 #else
 301         uint8_t len = msg->len < MAVLINK_MSG_ID_PARAM_VALUE_LEN? msg->len : MAVLINK_MSG_ID_PARAM_VALUE_LEN;
 302         memset(param_value, 0, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
 303     memcpy(param_value, _MAV_PAYLOAD(msg), len);
 304 #endif
 305 }