lib/main/MAVLink/common/mavlink_msg_camera_trigger.h

   1 #pragma once
   2 // MESSAGE CAMERA_TRIGGER PACKING
   3
   4 #define MAVLINK_MSG_ID_CAMERA_TRIGGER 112
   5
   6
   7 typedef struct __mavlink_camera_trigger_t {
   8  uint64_t time_usec; /*< [us] Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
   9  uint32_t seq; /*<  Image frame sequence*/
  10 } mavlink_camera_trigger_t;
  11
  12 #define MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN 12
  13 #define MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN 12
  14 #define MAVLINK_MSG_ID_112_LEN 12
  15 #define MAVLINK_MSG_ID_112_MIN_LEN 12
  16
  17 #define MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC 174
  18 #define MAVLINK_MSG_ID_112_CRC 174
  19
  20
  21
  22 #if MAVLINK_COMMAND_24BIT
  23 #define MAVLINK_MESSAGE_INFO_CAMERA_TRIGGER { \
  24     112, \
  25     "CAMERA_TRIGGER", \
  26     2, \
  27     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_trigger_t, time_usec) }, \
  28          { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_camera_trigger_t, seq) }, \
  29          } \
  30 }
  31 #else
  32 #define MAVLINK_MESSAGE_INFO_CAMERA_TRIGGER { \
  33     "CAMERA_TRIGGER", \
  34     2, \
  35     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_trigger_t, time_usec) }, \
  36          { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_camera_trigger_t, seq) }, \
  37          } \
  38 }
  39 #endif
  40
  41 /**
  42  * @brief Pack a camera_trigger 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_usec [us] Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
  48  * @param seq  Image frame sequence
  49  * @return length of the message in bytes (excluding serial stream start sign)
  50  */
  51 static inline uint16_t mavlink_msg_camera_trigger_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  52                                uint64_t time_usec, uint32_t seq)
  53 {
  54 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  55     char buf[MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN];
  56     _mav_put_uint64_t(buf, 0, time_usec);
  57     _mav_put_uint32_t(buf, 8, seq);
  58
  59         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN);
  60 #else
  61     mavlink_camera_trigger_t packet;
  62     packet.time_usec = time_usec;
  63     packet.seq = seq;
  64
  65         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN);
  66 #endif
  67
  68     msg->msgid = MAVLINK_MSG_ID_CAMERA_TRIGGER;
  69     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
  70 }
  71
  72 /**
  73  * @brief Pack a camera_trigger 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_usec [us] Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
  79  * @param seq  Image frame sequence
  80  * @return length of the message in bytes (excluding serial stream start sign)
  81  */
  82 static inline uint16_t mavlink_msg_camera_trigger_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  83                                mavlink_message_t* msg,
  84                                    uint64_t time_usec,uint32_t seq)
  85 {
  86 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  87     char buf[MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN];
  88     _mav_put_uint64_t(buf, 0, time_usec);
  89     _mav_put_uint32_t(buf, 8, seq);
  90
  91         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN);
  92 #else
  93     mavlink_camera_trigger_t packet;
  94     packet.time_usec = time_usec;
  95     packet.seq = seq;
  96
  97         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN);
  98 #endif
  99
 100     msg->msgid = MAVLINK_MSG_ID_CAMERA_TRIGGER;
 101     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
 102 }
 103
 104 /**
 105  * @brief Encode a camera_trigger 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 camera_trigger C-struct to read the message contents from
 111  */
 112 static inline uint16_t mavlink_msg_camera_trigger_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_trigger_t* camera_trigger)
 113 {
 114     return mavlink_msg_camera_trigger_pack(system_id, component_id, msg, camera_trigger->time_usec, camera_trigger->seq);
 115 }
 116
 117 /**
 118  * @brief Encode a camera_trigger 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 camera_trigger C-struct to read the message contents from
 125  */
 126 static inline uint16_t mavlink_msg_camera_trigger_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_trigger_t* camera_trigger)
 127 {
 128     return mavlink_msg_camera_trigger_pack_chan(system_id, component_id, chan, msg, camera_trigger->time_usec, camera_trigger->seq);
 129 }
 130
 131 /**
 132  * @brief Send a camera_trigger message
 133  * @param chan MAVLink channel to send the message
 134  *
 135  * @param time_usec [us] Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 136  * @param seq  Image frame sequence
 137  */
 138 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 139
 140 static inline void mavlink_msg_camera_trigger_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t seq)
 141 {
 142 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 143     char buf[MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN];
 144     _mav_put_uint64_t(buf, 0, time_usec);
 145     _mav_put_uint32_t(buf, 8, seq);
 146
 147     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_TRIGGER, buf, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
 148 #else
 149     mavlink_camera_trigger_t packet;
 150     packet.time_usec = time_usec;
 151     packet.seq = seq;
 152
 153     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_TRIGGER, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
 154 #endif
 155 }
 156
 157 /**
 158  * @brief Send a camera_trigger 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_camera_trigger_send_struct(mavlink_channel_t chan, const mavlink_camera_trigger_t* camera_trigger)
 163 {
 164 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 165     mavlink_msg_camera_trigger_send(chan, camera_trigger->time_usec, camera_trigger->seq);
 166 #else
 167     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_TRIGGER, (const char *)camera_trigger, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
 168 #endif
 169 }
 170
 171 #if MAVLINK_MSG_ID_CAMERA_TRIGGER_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_camera_trigger_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint32_t seq)
 180 {
 181 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 182     char *buf = (char *)msgbuf;
 183     _mav_put_uint64_t(buf, 0, time_usec);
 184     _mav_put_uint32_t(buf, 8, seq);
 185
 186     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_TRIGGER, buf, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
 187 #else
 188     mavlink_camera_trigger_t *packet = (mavlink_camera_trigger_t *)msgbuf;
 189     packet->time_usec = time_usec;
 190     packet->seq = seq;
 191
 192     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_TRIGGER, (const char *)packet, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
 193 #endif
 194 }
 195 #endif
 196
 197 #endif
 198
 199 // MESSAGE CAMERA_TRIGGER UNPACKING
 200
 201
 202 /**
 203  * @brief Get field time_usec from camera_trigger message
 204  *
 205  * @return [us] Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 206  */
 207 static inline uint64_t mavlink_msg_camera_trigger_get_time_usec(const mavlink_message_t* msg)
 208 {
 209     return _MAV_RETURN_uint64_t(msg,  0);
 210 }
 211
 212 /**
 213  * @brief Get field seq from camera_trigger message
 214  *
 215  * @return  Image frame sequence
 216  */
 217 static inline uint32_t mavlink_msg_camera_trigger_get_seq(const mavlink_message_t* msg)
 218 {
 219     return _MAV_RETURN_uint32_t(msg,  8);
 220 }
 221
 222 /**
 223  * @brief Decode a camera_trigger message into a struct
 224  *
 225  * @param msg The message to decode
 226  * @param camera_trigger C-struct to decode the message contents into
 227  */
 228 static inline void mavlink_msg_camera_trigger_decode(const mavlink_message_t* msg, mavlink_camera_trigger_t* camera_trigger)
 229 {
 230 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 231     camera_trigger->time_usec = mavlink_msg_camera_trigger_get_time_usec(msg);
 232     camera_trigger->seq = mavlink_msg_camera_trigger_get_seq(msg);
 233 #else
 234         uint8_t len = msg->len < MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN? msg->len : MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN;
 235         memset(camera_trigger, 0, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN);
 236     memcpy(camera_trigger, _MAV_PAYLOAD(msg), len);
 237 #endif
 238 }