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.*/
   9  char text[50]; /*<  Status text message, without null termination character*/
  10  uint16_t id; /*<  Unique (opaque) identifier for this statustext message.  May be used to reassemble a logical long-statustext message from a sequence of chunks.  A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.*/
  11  uint8_t chunk_seq; /*<  This chunk's sequence number; indexing is from zero.  Any null character in the text field is taken to mean this was the last chunk.*/
  12 }) mavlink_statustext_t;
  13
  14 #define MAVLINK_MSG_ID_STATUSTEXT_LEN 54
  15 #define MAVLINK_MSG_ID_STATUSTEXT_MIN_LEN 51
  16 #define MAVLINK_MSG_ID_253_LEN 54
  17 #define MAVLINK_MSG_ID_253_MIN_LEN 51
  18
  19 #define MAVLINK_MSG_ID_STATUSTEXT_CRC 83
  20 #define MAVLINK_MSG_ID_253_CRC 83
  21
  22 #define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50
  23
  24 #if MAVLINK_COMMAND_24BIT
  25 #define MAVLINK_MESSAGE_INFO_STATUSTEXT { \
  26     253, \
  27     "STATUSTEXT", \
  28     4, \
  29     {  { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \
  30          { "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \
  31          { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 51, offsetof(mavlink_statustext_t, id) }, \
  32          { "chunk_seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 53, offsetof(mavlink_statustext_t, chunk_seq) }, \
  33          } \
  34 }
  35 #else
  36 #define MAVLINK_MESSAGE_INFO_STATUSTEXT { \
  37     "STATUSTEXT", \
  38     4, \
  39     {  { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \
  40          { "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \
  41          { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 51, offsetof(mavlink_statustext_t, id) }, \
  42          { "chunk_seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 53, offsetof(mavlink_statustext_t, chunk_seq) }, \
  43          } \
  44 }
  45 #endif
  46
  47 /**
  48  * @brief Pack a statustext 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 severity  Severity of status. Relies on the definitions within RFC-5424.
  54  * @param text  Status text message, without null termination character
  55  * @param id  Unique (opaque) identifier for this statustext message.  May be used to reassemble a logical long-statustext message from a sequence of chunks.  A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
  56  * @param chunk_seq  This chunk's sequence number; indexing is from zero.  Any null character in the text field is taken to mean this was the last chunk.
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  60                                uint8_t severity, const char *text, uint16_t id, uint8_t chunk_seq)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63     char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
  64     _mav_put_uint8_t(buf, 0, severity);
  65     _mav_put_uint16_t(buf, 51, id);
  66     _mav_put_uint8_t(buf, 53, chunk_seq);
  67     _mav_put_char_array(buf, 1, text, 50);
  68         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUSTEXT_LEN);
  69 #else
  70     mavlink_statustext_t packet;
  71     packet.severity = severity;
  72     packet.id = id;
  73     packet.chunk_seq = chunk_seq;
  74     mav_array_memcpy(packet.text, text, sizeof(char)*50);
  75         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUSTEXT_LEN);
  76 #endif
  77
  78     msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
  79     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);
  80 }
  81
  82 /**
  83  * @brief Pack a statustext message on a channel
  84  * @param system_id ID of this system
  85  * @param component_id ID of this component (e.g. 200 for IMU)
  86  * @param chan The MAVLink channel this message will be sent over
  87  * @param msg The MAVLink message to compress the data into
  88  * @param severity  Severity of status. Relies on the definitions within RFC-5424.
  89  * @param text  Status text message, without null termination character
  90  * @param id  Unique (opaque) identifier for this statustext message.  May be used to reassemble a logical long-statustext message from a sequence of chunks.  A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
  91  * @param chunk_seq  This chunk's sequence number; indexing is from zero.  Any null character in the text field is taken to mean this was the last chunk.
  92  * @return length of the message in bytes (excluding serial stream start sign)
  93  */
  94 static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  95                                mavlink_message_t* msg,
  96                                    uint8_t severity,const char *text,uint16_t id,uint8_t chunk_seq)
  97 {
  98 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  99     char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
 100     _mav_put_uint8_t(buf, 0, severity);
 101     _mav_put_uint16_t(buf, 51, id);
 102     _mav_put_uint8_t(buf, 53, chunk_seq);
 103     _mav_put_char_array(buf, 1, text, 50);
 104         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUSTEXT_LEN);
 105 #else
 106     mavlink_statustext_t packet;
 107     packet.severity = severity;
 108     packet.id = id;
 109     packet.chunk_seq = chunk_seq;
 110     mav_array_memcpy(packet.text, text, sizeof(char)*50);
 111         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUSTEXT_LEN);
 112 #endif
 113
 114     msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
 115     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);
 116 }
 117
 118 /**
 119  * @brief Encode a statustext struct
 120  *
 121  * @param system_id ID of this system
 122  * @param component_id ID of this component (e.g. 200 for IMU)
 123  * @param msg The MAVLink message to compress the data into
 124  * @param statustext C-struct to read the message contents from
 125  */
 126 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)
 127 {
 128     return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text, statustext->id, statustext->chunk_seq);
 129 }
 130
 131 /**
 132  * @brief Encode a statustext struct on a channel
 133  *
 134  * @param system_id ID of this system
 135  * @param component_id ID of this component (e.g. 200 for IMU)
 136  * @param chan The MAVLink channel this message will be sent over
 137  * @param msg The MAVLink message to compress the data into
 138  * @param statustext C-struct to read the message contents from
 139  */
 140 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)
 141 {
 142     return mavlink_msg_statustext_pack_chan(system_id, component_id, chan, msg, statustext->severity, statustext->text, statustext->id, statustext->chunk_seq);
 143 }
 144
 145 /**
 146  * @brief Send a statustext message
 147  * @param chan MAVLink channel to send the message
 148  *
 149  * @param severity  Severity of status. Relies on the definitions within RFC-5424.
 150  * @param text  Status text message, without null termination character
 151  * @param id  Unique (opaque) identifier for this statustext message.  May be used to reassemble a logical long-statustext message from a sequence of chunks.  A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
 152  * @param chunk_seq  This chunk's sequence number; indexing is from zero.  Any null character in the text field is taken to mean this was the last chunk.
 153  */
 154 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 155
 156 static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text, uint16_t id, uint8_t chunk_seq)
 157 {
 158 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 159     char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
 160     _mav_put_uint8_t(buf, 0, severity);
 161     _mav_put_uint16_t(buf, 51, id);
 162     _mav_put_uint8_t(buf, 53, chunk_seq);
 163     _mav_put_char_array(buf, 1, text, 50);
 164     _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);
 165 #else
 166     mavlink_statustext_t packet;
 167     packet.severity = severity;
 168     packet.id = id;
 169     packet.chunk_seq = chunk_seq;
 170     mav_array_memcpy(packet.text, text, sizeof(char)*50);
 171     _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);
 172 #endif
 173 }
 174
 175 /**
 176  * @brief Send a statustext message
 177  * @param chan MAVLink channel to send the message
 178  * @param struct The MAVLink struct to serialize
 179  */
 180 static inline void mavlink_msg_statustext_send_struct(mavlink_channel_t chan, const mavlink_statustext_t* statustext)
 181 {
 182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 183     mavlink_msg_statustext_send(chan, statustext->severity, statustext->text, statustext->id, statustext->chunk_seq);
 184 #else
 185     _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);
 186 #endif
 187 }
 188
 189 #if MAVLINK_MSG_ID_STATUSTEXT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 190 /*
 191   This varient of _send() can be used to save stack space by re-using
 192   memory from the receive buffer.  The caller provides a
 193   mavlink_message_t which is the size of a full mavlink message. This
 194   is usually the receive buffer for the channel, and allows a reply to an
 195   incoming message with minimum stack space usage.
 196  */
 197 static inline void mavlink_msg_statustext_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t severity, const char *text, uint16_t id, uint8_t chunk_seq)
 198 {
 199 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 200     char *buf = (char *)msgbuf;
 201     _mav_put_uint8_t(buf, 0, severity);
 202     _mav_put_uint16_t(buf, 51, id);
 203     _mav_put_uint8_t(buf, 53, chunk_seq);
 204     _mav_put_char_array(buf, 1, text, 50);
 205     _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);
 206 #else
 207     mavlink_statustext_t *packet = (mavlink_statustext_t *)msgbuf;
 208     packet->severity = severity;
 209     packet->id = id;
 210     packet->chunk_seq = chunk_seq;
 211     mav_array_memcpy(packet->text, text, sizeof(char)*50);
 212     _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);
 213 #endif
 214 }
 215 #endif
 216
 217 #endif
 218
 219 // MESSAGE STATUSTEXT UNPACKING
 220
 221
 222 /**
 223  * @brief Get field severity from statustext message
 224  *
 225  * @return  Severity of status. Relies on the definitions within RFC-5424.
 226  */
 227 static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg)
 228 {
 229     return _MAV_RETURN_uint8_t(msg,  0);
 230 }
 231
 232 /**
 233  * @brief Get field text from statustext message
 234  *
 235  * @return  Status text message, without null termination character
 236  */
 237 static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, char *text)
 238 {
 239     return _MAV_RETURN_char_array(msg, text, 50,  1);
 240 }
 241
 242 /**
 243  * @brief Get field id from statustext message
 244  *
 245  * @return  Unique (opaque) identifier for this statustext message.  May be used to reassemble a logical long-statustext message from a sequence of chunks.  A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
 246  */
 247 static inline uint16_t mavlink_msg_statustext_get_id(const mavlink_message_t* msg)
 248 {
 249     return _MAV_RETURN_uint16_t(msg,  51);
 250 }
 251
 252 /**
 253  * @brief Get field chunk_seq from statustext message
 254  *
 255  * @return  This chunk's sequence number; indexing is from zero.  Any null character in the text field is taken to mean this was the last chunk.
 256  */
 257 static inline uint8_t mavlink_msg_statustext_get_chunk_seq(const mavlink_message_t* msg)
 258 {
 259     return _MAV_RETURN_uint8_t(msg,  53);
 260 }
 261
 262 /**
 263  * @brief Decode a statustext message into a struct
 264  *
 265  * @param msg The message to decode
 266  * @param statustext C-struct to decode the message contents into
 267  */
 268 static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext)
 269 {
 270 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 271     statustext->severity = mavlink_msg_statustext_get_severity(msg);
 272     mavlink_msg_statustext_get_text(msg, statustext->text);
 273     statustext->id = mavlink_msg_statustext_get_id(msg);
 274     statustext->chunk_seq = mavlink_msg_statustext_get_chunk_seq(msg);
 275 #else
 276         uint8_t len = msg->len < MAVLINK_MSG_ID_STATUSTEXT_LEN? msg->len : MAVLINK_MSG_ID_STATUSTEXT_LEN;
 277         memset(statustext, 0, MAVLINK_MSG_ID_STATUSTEXT_LEN);
 278     memcpy(statustext, _MAV_PAYLOAD(msg), len);
 279 #endif
 280 }