lib/main/MAVLink/common/mavlink_msg_data_stream.h

   1 #pragma once
   2 // MESSAGE DATA_STREAM PACKING
   3
   4 #define MAVLINK_MSG_ID_DATA_STREAM 67
   5
   6
   7 typedef struct __mavlink_data_stream_t {
   8  uint16_t message_rate; /*< [Hz] The message rate*/
   9  uint8_t stream_id; /*<  The ID of the requested data stream*/
  10  uint8_t on_off; /*<  1 stream is enabled, 0 stream is stopped.*/
  11 } mavlink_data_stream_t;
  12
  13 #define MAVLINK_MSG_ID_DATA_STREAM_LEN 4
  14 #define MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN 4
  15 #define MAVLINK_MSG_ID_67_LEN 4
  16 #define MAVLINK_MSG_ID_67_MIN_LEN 4
  17
  18 #define MAVLINK_MSG_ID_DATA_STREAM_CRC 21
  19 #define MAVLINK_MSG_ID_67_CRC 21
  20
  21
  22
  23 #if MAVLINK_COMMAND_24BIT
  24 #define MAVLINK_MESSAGE_INFO_DATA_STREAM { \
  25     67, \
  26     "DATA_STREAM", \
  27     3, \
  28     {  { "stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_data_stream_t, stream_id) }, \
  29          { "message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_data_stream_t, message_rate) }, \
  30          { "on_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_data_stream_t, on_off) }, \
  31          } \
  32 }
  33 #else
  34 #define MAVLINK_MESSAGE_INFO_DATA_STREAM { \
  35     "DATA_STREAM", \
  36     3, \
  37     {  { "stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_data_stream_t, stream_id) }, \
  38          { "message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_data_stream_t, message_rate) }, \
  39          { "on_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_data_stream_t, on_off) }, \
  40          } \
  41 }
  42 #endif
  43
  44 /**
  45  * @brief Pack a data_stream message
  46  * @param system_id ID of this system
  47  * @param component_id ID of this component (e.g. 200 for IMU)
  48  * @param msg The MAVLink message to compress the data into
  49  *
  50  * @param stream_id  The ID of the requested data stream
  51  * @param message_rate [Hz] The message rate
  52  * @param on_off  1 stream is enabled, 0 stream is stopped.
  53  * @return length of the message in bytes (excluding serial stream start sign)
  54  */
  55 static inline uint16_t mavlink_msg_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  56                                uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
  57 {
  58 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  59     char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
  60     _mav_put_uint16_t(buf, 0, message_rate);
  61     _mav_put_uint8_t(buf, 2, stream_id);
  62     _mav_put_uint8_t(buf, 3, on_off);
  63
  64         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
  65 #else
  66     mavlink_data_stream_t packet;
  67     packet.message_rate = message_rate;
  68     packet.stream_id = stream_id;
  69     packet.on_off = on_off;
  70
  71         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
  72 #endif
  73
  74     msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
  75     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
  76 }
  77
  78 /**
  79  * @brief Pack a data_stream message on a channel
  80  * @param system_id ID of this system
  81  * @param component_id ID of this component (e.g. 200 for IMU)
  82  * @param chan The MAVLink channel this message will be sent over
  83  * @param msg The MAVLink message to compress the data into
  84  * @param stream_id  The ID of the requested data stream
  85  * @param message_rate [Hz] The message rate
  86  * @param on_off  1 stream is enabled, 0 stream is stopped.
  87  * @return length of the message in bytes (excluding serial stream start sign)
  88  */
  89 static inline uint16_t mavlink_msg_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  90                                mavlink_message_t* msg,
  91                                    uint8_t stream_id,uint16_t message_rate,uint8_t on_off)
  92 {
  93 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  94     char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
  95     _mav_put_uint16_t(buf, 0, message_rate);
  96     _mav_put_uint8_t(buf, 2, stream_id);
  97     _mav_put_uint8_t(buf, 3, on_off);
  98
  99         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
 100 #else
 101     mavlink_data_stream_t packet;
 102     packet.message_rate = message_rate;
 103     packet.stream_id = stream_id;
 104     packet.on_off = on_off;
 105
 106         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
 107 #endif
 108
 109     msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
 110     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
 111 }
 112
 113 /**
 114  * @brief Encode a data_stream struct
 115  *
 116  * @param system_id ID of this system
 117  * @param component_id ID of this component (e.g. 200 for IMU)
 118  * @param msg The MAVLink message to compress the data into
 119  * @param data_stream C-struct to read the message contents from
 120  */
 121 static inline uint16_t mavlink_msg_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_stream_t* data_stream)
 122 {
 123     return mavlink_msg_data_stream_pack(system_id, component_id, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
 124 }
 125
 126 /**
 127  * @brief Encode a data_stream struct on a channel
 128  *
 129  * @param system_id ID of this system
 130  * @param component_id ID of this component (e.g. 200 for IMU)
 131  * @param chan The MAVLink channel this message will be sent over
 132  * @param msg The MAVLink message to compress the data into
 133  * @param data_stream C-struct to read the message contents from
 134  */
 135 static inline uint16_t mavlink_msg_data_stream_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data_stream_t* data_stream)
 136 {
 137     return mavlink_msg_data_stream_pack_chan(system_id, component_id, chan, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
 138 }
 139
 140 /**
 141  * @brief Send a data_stream message
 142  * @param chan MAVLink channel to send the message
 143  *
 144  * @param stream_id  The ID of the requested data stream
 145  * @param message_rate [Hz] The message rate
 146  * @param on_off  1 stream is enabled, 0 stream is stopped.
 147  */
 148 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 149
 150 static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
 151 {
 152 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 153     char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
 154     _mav_put_uint16_t(buf, 0, message_rate);
 155     _mav_put_uint8_t(buf, 2, stream_id);
 156     _mav_put_uint8_t(buf, 3, on_off);
 157
 158     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
 159 #else
 160     mavlink_data_stream_t packet;
 161     packet.message_rate = message_rate;
 162     packet.stream_id = stream_id;
 163     packet.on_off = on_off;
 164
 165     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
 166 #endif
 167 }
 168
 169 /**
 170  * @brief Send a data_stream message
 171  * @param chan MAVLink channel to send the message
 172  * @param struct The MAVLink struct to serialize
 173  */
 174 static inline void mavlink_msg_data_stream_send_struct(mavlink_channel_t chan, const mavlink_data_stream_t* data_stream)
 175 {
 176 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 177     mavlink_msg_data_stream_send(chan, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
 178 #else
 179     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)data_stream, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
 180 #endif
 181 }
 182
 183 #if MAVLINK_MSG_ID_DATA_STREAM_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 184 /*
 185   This varient of _send() can be used to save stack space by re-using
 186   memory from the receive buffer.  The caller provides a
 187   mavlink_message_t which is the size of a full mavlink message. This
 188   is usually the receive buffer for the channel, and allows a reply to an
 189   incoming message with minimum stack space usage.
 190  */
 191 static inline void mavlink_msg_data_stream_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
 192 {
 193 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 194     char *buf = (char *)msgbuf;
 195     _mav_put_uint16_t(buf, 0, message_rate);
 196     _mav_put_uint8_t(buf, 2, stream_id);
 197     _mav_put_uint8_t(buf, 3, on_off);
 198
 199     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
 200 #else
 201     mavlink_data_stream_t *packet = (mavlink_data_stream_t *)msgbuf;
 202     packet->message_rate = message_rate;
 203     packet->stream_id = stream_id;
 204     packet->on_off = on_off;
 205
 206     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)packet, MAVLINK_MSG_ID_DATA_STREAM_MIN_LEN, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
 207 #endif
 208 }
 209 #endif
 210
 211 #endif
 212
 213 // MESSAGE DATA_STREAM UNPACKING
 214
 215
 216 /**
 217  * @brief Get field stream_id from data_stream message
 218  *
 219  * @return  The ID of the requested data stream
 220  */
 221 static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_message_t* msg)
 222 {
 223     return _MAV_RETURN_uint8_t(msg,  2);
 224 }
 225
 226 /**
 227  * @brief Get field message_rate from data_stream message
 228  *
 229  * @return [Hz] The message rate
 230  */
 231 static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_message_t* msg)
 232 {
 233     return _MAV_RETURN_uint16_t(msg,  0);
 234 }
 235
 236 /**
 237  * @brief Get field on_off from data_stream message
 238  *
 239  * @return  1 stream is enabled, 0 stream is stopped.
 240  */
 241 static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t* msg)
 242 {
 243     return _MAV_RETURN_uint8_t(msg,  3);
 244 }
 245
 246 /**
 247  * @brief Decode a data_stream message into a struct
 248  *
 249  * @param msg The message to decode
 250  * @param data_stream C-struct to decode the message contents into
 251  */
 252 static inline void mavlink_msg_data_stream_decode(const mavlink_message_t* msg, mavlink_data_stream_t* data_stream)
 253 {
 254 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 255     data_stream->message_rate = mavlink_msg_data_stream_get_message_rate(msg);
 256     data_stream->stream_id = mavlink_msg_data_stream_get_stream_id(msg);
 257     data_stream->on_off = mavlink_msg_data_stream_get_on_off(msg);
 258 #else
 259         uint8_t len = msg->len < MAVLINK_MSG_ID_DATA_STREAM_LEN? msg->len : MAVLINK_MSG_ID_DATA_STREAM_LEN;
 260         memset(data_stream, 0, MAVLINK_MSG_ID_DATA_STREAM_LEN);
 261     memcpy(data_stream, _MAV_PAYLOAD(msg), len);
 262 #endif
 263 }